Attitude Estimation of SINS on Dynamic Base With Decoupling Gravity Vector

Accurate and fast estimation of attitude is an important performance criteria for Strapdown Inertial Navigation System (SINS). Although many algorithms for SINS attitude estimation have been proposed by related researchers, most of them take the gravity vector as a known quantity. However, the gravity vector is inaccurate or even unknown in many cases, we have to use normal gravity instead of true gravity, which will bring errors to the mechanics equation of SINS, and reduce accuracy of attitude estimation. The coupling of gravity and attitude has been widely concerned by scholars and lack of effective solutions. In this paper, a new coarse attitude estimation method for dynamic base with decoupling the gravity vector is proposed. The method does not require the participation of gravity vector in attitude estimation process. Numerical simulation based on field test data is employed to verify the effectiveness and superiority of the proposed method in land vehicle navigation. The results indicate that the method improved the error caused by inaccurate gravity vector in traditional SINS attitude estimation and it provides a new idea for the measurement of vertical deviation.

Automated summary

The paper introduces a new coarse attitude estimation method for a dynamic base with the decoupling of the gravity vector, which does not require the participation of the gravity vector and effectively improves the errors caused by inaccurate gravity vector in SINS attitude estimation.