Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 23, Issue 4, Pages 2016-2021Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2018.2834917
Keywords
Attitude determination (AD); Doppler velocity log (DVL); initial alignment; strapdown inertial navigation system (SINS)
Categories
Funding
- National Postdoctoral Program for Innovative Talents [BX 201600038]
- National Natural Science Foundation of China [41474061, 61503404]
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The attitude determination (AD) based initial alignment for Doppler velocity log (DVL) aided strapdown inertial navigation system (SINS) is investigated. Three issues involved in practical applications are pointed out and addressed, which have not been discussed in previous works. First, the explicit AD-based initial alignment procedure is presented for DVL-aided SINS with the consideration of different sampling frequencies of the two devices. Second, an outliers detection and isolation procedure for DVL is proposed based on the fact that the transverse or up speed is always near zero. Third, it is pointed out that the constructed vector observations should be normalized when used in the AD. The validity and superiority of the proposed methods are demonstrated through an experimental study.
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