View
1
Download
0
Category
Preview:
Citation preview
Research ArticleInitial Self-Alignment for Marine Rotary SINS Using NovelAdaptive Kalman Filter
Fujun Pei,1,2 Li Zhu,1,2 and Jian Zhao1,2
1School of Electronic Information & Control Engineering, Beijing University of Technology, Beijing 100124, China2Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing 100124, China
Correspondence should be addressed to Fujun Pei; pfj@bjut.edu.cn
Received 24 January 2015; Accepted 15 April 2015
Academic Editor: Oscar Reinoso
Copyright ยฉ 2015 Fujun Pei et al.This is an open access article distributed under theCreative CommonsAttribution License, whichpermits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
The accurate initial attitude is essential to affect the navigation result of Rotary Strapdown Inertial Navigation System (SINS), whichis usually calculated by initial alignment. But marine mooring Rotary SINS has to withstand dynamic disturbance, such as theinterference angular velocities and accelerations caused by surge and sway. In order to overcome the limit of dynamic disturbanceunder the marine mooring condition, an alignment method using novel adaptive Kalman filter for marine mooring Rotary SINSis developed in this paper. This alignment method using the gravity in the inertial frame as a reference is discussed to deal withthe lineal and angular disturbances. Secondly, the system error model for fine alignment in the inertial frame as a reference isestablished. Thirdly, PWCS and SVD are used to analyze the observability of the system error model for fine alignment. Finally, anovel adaptive Kalman filter withmeasurement residual to estimatemeasurement noise variance is designed.The simulation resultsdemonstrate that the proposed method can achieve better accuracy and stability for marine Rotary SINS.
1. Introduction
Because SINS has special advantages, it has been widely usedin aviation, marine, and land vehicle navigation and posi-tioning. Because the bias errors of inertial sensors can causelarge positioning errors accumulated over time, low accuracyship-carrier SINS cannot meet the navigation requirementfor long voyage of the marine [1]. Whereas the high accuracySINS needs strategic inertial sensors, it will increase the costcorrespondingly. With the emergence of rotation modula-tion technique that compensates the constant bias error ofinertial sensors, Rotary SINS plays an important role in themarine field. But because the initial errors in the derived navi-gation parameters cannot be depressed by rotary modulationtechnique, initial alignment is the key technique for RotarySINS. The purpose of initial alignment is to obtain an initialattitude matrix and set the misalignments to zero. Then theaccuracy and stability of initial alignment are critical for highperformance Rotary SINS [2, 3].The initial attitude angle canbe obtained by initial alignment, which is divided into twoprocedures: coarse and fine alignment. The coarse alignmentis used to resolve large misalignment angle rapidly, and then
the fine alignment is used to compensate and correct themisalignment angle further.
A lot of literature has been devoted to coarse alignmentmethods. But marine Rotary SINS has to withstand dynamicdisturbance, such as the interference angular velocities andaccelerations, caused by surge and sway far outweighing theautorotation angular velocity of the Earth. So the conven-tional coarse alignment method cannot be utilized [4]. In2000, the IxSea Company claimed a new alignment algo-rithm,which could be done in 5min under any swinging con-ditions with their new alignment algorithm [5, 6]. Based onthe alignment idea of Octans, relevant investigations aboutthe inertial frame alignment have been carried out [7โ9].The inertial frame alignment algorithm can isolate the distur-bance by lineal and angular movements of the vehicle in themarine. But in these coarse alignment algorithms, the headangle error within a few degrees and pitch/roll angle withina few tenths of a degree hence fulfill the requirement for thefine alignment [10].
In the fine alignment procedure, Kalman filter is an opti-mal linear estimator whenmeasurement noise has a Gaussian
Hindawi Publishing CorporationMathematical Problems in EngineeringVolume 2015, Article ID 320536, 12 pageshttp://dx.doi.org/10.1155/2015/320536
2 Mathematical Problems in Engineering
distribution with known measurement and process noisevariance values. In [11], the fine alignment error model in theinertial framewas developed, the velocity differences betweenthe calculated Strapdown INS values and the true valuesalong the inertial frame were considered as measurements,and Kalman filter was used to estimate the error angle. But inthis method, the disturbed acceleration was ignored based onthe integration of the disturbed acceleration which was con-sidered equal to zero. But the disturbed acceleration causedby heavy surge or waves in marine did not periodically vary,and determining an accurate value of this disturbance noisevariance is very difficult in the marine environment. To over-come the uncertainty measurement noise in Strapdown INSfine alignment procedure, several adaptive filter techniqueshave been developed for fine alignment. Most of the workreported for this problem has concentrated on innovation-based adaptive estimation, which utilizes new statisticalinformation from the innovation sequence to correct theestimation of the states. The main idea of these adaptive esti-mation methods is adjusting the ๐ matrix online using fuzzylogic and neurofuzzy logic [12โ14], for linear and nonlinearsystems, respectively.This adaptive filter is based on a covari-ance matching technique, where its input is the differencebetween the actual Kalman filter residual covariance and itstheoretical value. But the decision of the fuzzy rule andthe selection of the adjusting step size of ๐ are dependenton experience more or less, and the complex adjustmentalgorithm degrades the real-time performance. In [15], anadaptive Kalman filter was specially presented to estimatemeasurement noise variance directly using the measure-ment residual and employing the Frobenius norm. And theadaptive Kalman filter in [15] has successfully improved thestability of filter in the case of measurement uncertainties.
Inspired by the adaptive idea in [15], a novel adaptiveKalman filter algorithm is developed in this paper, and sim-ulation test verifies the effectiveness of the proposed method.Similar to [11, 14], utilizing the gravity in the inertial frame as areference, the initial fine alignment errormodel is establishedfor fine alignment procedure of Rotary SINS.Thedifference isthat the PWCS theory and SVD theory are used to analyze theobservability of the fine alignment errormodel before design-ing filter. And the novel calculation method for the adaptivescalar value is obtained and proved based on the systemstability and optimality conditions of the adaptive filter.
This paper is organized as follows. The algorithmapproaches for the principle of rotary modulation techniqueand the coarse alignment algorithm in the inertial frame arepresented in Section 2. Section 3 provides the Rotary SINSfine alignment error model in the inertial frame and theobservability analysis of PWCS theory and SVD theory. Anadaptive filter is developed which is presented in Section 4.The simulation results are illustrated in Section 5. Finally, theconclusion is presented in Section 6.
Coordinate Frame Definitions. The ๐ frame is the bodycoordinate frame. The ๐ฅ๐ axis is parallel to the body lateralaxis and points to the right.The ๐ฆ๐ axis is parallel to the bodylongitudinal axis and points forward.The ๐ง๐ axis is parallel tothe body vertical axis and points upward.
The ๐ frame is the navigation coordinate frame which isthe local level coordinate frame.The ๐๐ฅ axis points to the East,the ๐๐ฆ axis points to the North, and the ๐๐ง axis points to thezenith.
The ๐ frame is the Earth-fixed coordinate frame. The ๐๐งaxis is parallel to the Earthโs rotation axis and the ๐๐ฅ axisis in the equatorial plane and points to the meridian of thebody initial position. The ๐๐ฆ axis completes the right-handedcoordinate system.
The ๐ frame is the inertial coordinate frame. It is formedby fixing the ๐ frame at the beginning of the coarse alignmentin the inertial space.
The ๐ frame is the computed inertial coordinate frame.The ๐๐0 frame is the body inertial coordinate frame. It is
formedby fixing the ๐ frame at the beginning of the alignmentin the inertial space.
The ๐ frame is the inertial measurement unit (IMU)coordinate frame. The origin of this frame is at the IMUโscenter of gravity and it is in accordance with the ๐ frameat first. Besides, ๐๐ฅ๐ runs parallel to the longitudinal gyroโssensing axis and the longitudinal accelerometerโs sensing axis.Similarly, ๐๐ฆ๐ runs parallel to the transverse gyroโs sensingaxis and the transverse accelerometerโs sensing axis, whereas๐๐ง๐ is vertical to๐๐ฅ๐ ๐ฆ๐ and it is upright.Then the IMU rotatesaround the rotation axis with angular velocity ๐. Thus, the ๐ frame varied with the changes of IMUโs position is a real-timevariable frame.
2. Realization of Coarse Alignment forRotary SINS in the Inertial Frame
2.1. The Principle of Rotary Modulation Technique. In thissection, the principle of restraining navigation errors will beexplained in detail. First of all, the differential equations ofattitude error and velocity error for Rotary SINS are expressedas
ฬ๐๐= โ๐๐
๐๐ร ๐๐+ ๐ฟ๐๐
๐๐โ C๐๐C๐๐ ๐ฟ๐๐
๐๐ ,
๐ฟkฬ๐ = ๐๐ ร ๐๐ + C๐๐C๐๐ ๐ฟ๐๐
๐๐ โ (2๐ฟ๐
๐
๐๐+ ๐ฟ๐๐
๐๐) ร V๐
โ (2๐๐
๐๐+ ๐๐
๐๐) ร ๐ฟV๐ + ๐ฟ๐๐.
(1)
First of all, the notations used in the equations should beexplained. Subscript denotes a frameโs relative movement toanother frame, and superscript denotes the expression in theframe. For example, ๐๐ is the attitude error expressed in the ๐frame and ๐๐
๐๐is the angular rate of the ๐ frame with respect
to the ๐ frame, expressed in the ๐ frame. C๐๐ is the transform
matrix from the ๐ frame to the ๐ frame andC๐๐is the transform
matrix from the ๐ frame to the ๐ frame. ๐ฟV๐ denotes the vectorerror. In particular, ๐ฟ๐๐
๐๐ and ๐ฟ๐๐
๐๐ are the errors caused by the
inertial sensors inaccurate measurement. V๐ is the velocityexpressed in the ๐ frame and ๐๐ is the gravity vector in the๐ frame. ๐๐
๐๐is the Earth rotation rate vector in the ๐ frame
and ๐๐๐๐is the ๐ frame angular rate in the ๐ frame.
In accordance with IMU rotation which continues, theelement of C๐
๐ is changed frequently. The fundamental aspect
of rotation modulation technique is to change the element of
Mathematical Problems in Engineering 3
C๐๐ periodically so thatmean values ofC๐
๐C๐๐ ๐ฟ๐๐
๐๐ andC๐
๐C๐๐ ๐ฟ๐๐
๐๐
approximately approach zero. As a result, the navigationsystem errors are reduced and the system performance isimproved owing to the rotational motion.
Adopting dual-axis rotation modulating method in thispaper, three gyros and three accelerometers are used as theinertial sensors. Initially, the ๐ frame is in accordance with the๐ frame.Then the system rotates continuously at the uniformrotational angular velocities ๐1 and ๐2 (๐1 ฬธ= ๐2) around the๐๐ฅ๐ and ๐๐ง๐ axis of the ๐ frame, respectively. We use thetransformmatrixC๐
๐to express the relations from the ๐ frame
to the ๐ frame:
C๐ ๐= C๐ ๐ฅ๐C๐ ๐ง๐. (2)
Since the outputs of the inertial sensors are measuredfrom the ๐ frame, the following equations can be obtained:
๐๐
๐๐ = C๐ ๐๏ฟฝฬ๏ฟฝ๐
๐๐+ ๐๐
๐๐ + [๐๐ฅ ๐๐ฆ ๐๐ง]
๐, (3)
๐๐
๐๐ = C๐ ๐๐๐
๐๐+ ๐๐
๐๐ + [โ๐ฅ โ๐ฆ โ๐ง]
๐. (4)
Among them, it is assumed that the gyroscope drift andaccelerometer bias are ๐๐ฅ, ๐๐ฆ, and ๐๐ง and โ๐ฅ, โ๐ฆ, and โ๐ง. Inaddition, ๐๐
๐๐ = โC๐
๐๐๐
๐ ๐= [๐1 ๐2 sin๐1๐ก ๐2 cos๐1๐ก]
๐ isthe angular rate of the ๐ frame with respect to the ๐ frame,expressed in the ๐ frame. ๐๐
๐๐ is the specific force of the ๐
frame with respect to the ๐ frame, expressed in the ๐ frame.๐๐
๐๐ = 0 is the specific force of the ๐ frame with respect to the
๐ frame, expressed in the ๐ frame. ๐๐๐๐is the measured output
of accelerometer. ๏ฟฝฬ๏ฟฝ๐๐๐is the measured output of gyro.
It is necessary to transform the inertial sensor measure-ments from the ๐ frame to the ๐ frame, so we have
๐๐
๐๐= (C๐ ๐)๐๐๐
๐๐ + ๐๐
๐ ๐, (5)
๐๐
๐๐= (C๐ ๐)๐๐๐
๐๐ + ๐๐
๐ ๐, (6)
where ๐๐๐๐is the angular rate of the ๐ frame with respect to
the ๐ frame, expressed in the ๐ frame. ๏ฟฝฬ๏ฟฝ๐๐๐and ๐๐
๐๐denote the
actual and measured value of the gyro output, respectively.Substituting (3) and (4) using (5) and (6), respectively, the
drift-bias errors of gyros and accelerometers by the rotationalmotion are
[[[
[
๐๐
๐ฅ
๐๐
๐ฆ
๐๐
๐ง
]]]
]
=[[[
[
๐๐ฅ cos๐2๐ก โ ๐๐ฆ cos๐1๐ก sin๐2๐ก + ๐๐ง sin๐1๐ก sin๐2๐ก๐๐ฅ sin๐2๐ก + ๐๐ฆ cos๐1๐ก cos๐2๐ก โ ๐๐ง sin๐1๐ก cos๐2๐ก
๐๐ฆ sin๐1๐ก + ๐๐ง cos๐1๐ก
]]]
]
,
[[[
[
โ๐
๐ฅ
โ๐
๐ฆ
โ๐
๐ง
]]]
]
=[[[
[
โ๐ฅ cos๐2๐ก โ โ๐ฆ cos๐1๐ก sin๐2๐ก + โ๐ง sin๐1๐ก sin๐2๐กโ๐ฅ sin๐2๐ก + โ๐ฆ cos๐1๐ก cos๐2๐ก โ โ๐ง sin๐1๐ก cos๐2๐ก
โ๐ฆ sin๐1๐ก + โ๐ง cos๐1๐ก
]]]
]
.
(7)
Above all, we can find that the drift-bias errors of gyrosand accelerometers on three axes in the ๐ frame have beenchanged periodically. Consequently, it is confirmed that thedual-axis modulating rotationmethod is useful in restrainingthe drift-bias errors of the inertial sensor on three axes.
2.2. The Coarse Alignment Algorithm in the Inertial Frame.The coarse alignment for Rotary SINS is to determine thecoordinate transformmatrix from the ๐ frame to the ๐ frame,which is also called the attitudematrix and could be describedas follows:
C๐๐ (๐ก) = C๐
๐C๐๐(๐ก)C๐๐๐0C๐๐0๐ (๐ก) , (8)
where
C๐๐=[[
[
0 1 0
โ sin ๐ฟ 0 cos ๐ฟcos ๐ฟ 0 sin ๐ฟ
]]
]
, (9)
C๐๐(๐ก) =
[[
[
cos๐๐๐ (๐ก โ ๐ก0) sin๐๐๐ (๐ก โ ๐ก0) 0โ sin๐๐๐ (๐ก โ ๐ก0) cos๐๐๐ (๐ก โ ๐ก0) 0
0 0 1
]]
]
, (10)
where ๐ฟ is latitude, ๐๐๐ is the Earth rotation rate, and ๐ก0 isthe start time of the coarse alignment. C๐๐0
๐ (๐ก) represents the
transformmatrix from the ๐ frame to the ๐๐0 frame, which canbe updated by using the gyro output in the ๐ frame throughthe attitude quaternion algorithm (its initial value is the unitmatrix).
Thus, the key of the coarse alignment based on the inertialframe is to compute the transformmatrixC๐
๐๐0.C๐๐๐0represents
the transform matrix from the ๐๐0 frame to the ๐ frame and isa constantmatrix. According to dual-vector attitude determi-nationmethod,C๐
๐๐0can be calculated by using the integration
of the gravity vector in the ๐ frame and the ๐๐0 frame at twodifferent moments.
The accelerometer outputs in the ๐ frame consist of theprojection of the gravity vector ๐๐ , the projection of theinterference acceleration ๐ฟ๐๐
๐ท, the induced acceleration due
to the lever-arm ๐๐ LA, and the constant bias error of theaccelerometer โ, namely,
๐๐ = โ๐๐ + ๐ฟ๐๐
๐ท+ ๐๐
LA + โ. (11)
As the constant bias error of the accelerometer โ isreduced to zero after every rotation period, the integration of
4 Mathematical Problems in Engineering
the accelerometerโs measured specific force projected in the๐๐0 frame can be described as follows:
V๐๐0๐(๐ก๐) = โซ
๐ก๐
๐ก0
C๐๐0๐C๐๐ ๐๐ ๐๐ก
= โซ
๐ก๐
๐ก0
C๐๐0๐C๐๐ (โ๐๐ + ๐ฟ๐๐
๐ท+ ๐๐
LA) ๐๐ก
= โC๐๐0๐โซ
๐ก๐
๐ก0
๐๐๐๐ก + ๐ฟV๐๐0
๐ท+ V๐๐0LA,
(12)
V๐๐0LA = โซ๐ก๐
๐ก0
๐๐๐0
LA๐๐ก = C๐๐0๐ (๐๐
๐๐ ร ๐๐ ) . (13)
As the integration of the ๐ฟ๐๐ ๐ทapproaches zero approximately
after every rotation period, (12) becomes
V๐๐0 (๐ก๐) = V๐๐0
๐(๐ก๐) โ V
๐๐0
LA (๐ก๐) = โC๐๐0
๐โซ
๐ก๐
๐ก0
๐๐๐๐ก
= C๐๐0๐V๐ (๐ก๐) ,
(14)
where ๐๐ is the gravity vector in the ๐ frame. Integrating ๐๐
from ๐ก0 to ๐ก๐ yieldsฮ๐ก๐ = ๐ก๐โ๐ก0, andV๐(๐ก๐) could be computedas
V๐ (๐ก๐) =
[[[[[[[[
[
๐ cos ๐ฟ๐๐๐
sin๐๐๐ฮ๐ก๐
๐ cos ๐ฟ๐๐๐
(1 โ cos๐๐๐ฮ๐ก๐)
ฮ๐ก๐๐ sin ๐ฟ
]]]]]]]]
]
. (15)
Substituting (15) in (14), the following equations can beobtained:
V๐๐0 (๐ก๐1) = C๐๐0
๐V๐ (๐ก๐1) ,
V๐๐0 (๐ก๐2) = C๐๐0
๐V๐ (๐ก๐2) ,
(16)
where ๐ก๐2 is the end time of coarse alignment and ๐ก0 < ๐ก๐1 <๐ก๐2.
From (16), C๐๐๐0could be calculated by the following
equation:
C๐๐๐0=
[[[[
[
(V๐)๐
(๐ก๐1)
(V๐)๐
(๐ก๐2)
[V๐ (๐ก๐1) ร V๐ (๐ก๐2)]๐
]]]]
]
โ1
โ
[[[[
[
(V๐๐0)๐
(๐ก๐1)
(V๐๐0)๐
(๐ก๐2)
[V๐๐0 (๐ก๐1) ร V๐๐0 (๐ก๐2)]๐
]]]]
]
.
(17)
After deriving C๐๐๐0, the attitude matrix C๐
๐ can be calcu-
lated through (8).
3. Fine Alignment Error Model andObservability Analysis
The coarse initial attitude angle can be obtained by the coarsealignment method in Section 2. The marine heading angleerror is estimated to within a few degrees and pitch/roll angleto within a few tenths of a degree, which allow the fine align-ment filter to operate within it in the linear region. In this sec-tion, the fine alignment errormodel of Rotary SINS in inertialframe is developed. Moreover, observability analysis of theerror model is discussed using PWCS and SVD theory beforedesigning the filter.
3.1. Fine Alignment Error Model. Using (8) for reference, theattitude matrix C๐
๐ (๐ก) which remains to be calculated with
high accuracy at the end of the fine alignment procedure canbe represented as
C๐๐ (๐ก) = C๐
๐C๐๐(๐ก)C๐๐ (๐ก) , (18)
whereC๐๐andC๐
๐(๐ก) are derived from (9) and (10), respectively.
C๐๐ (๐ก) can be described as follows:
C๐๐ (๐ก) = [C๐
๐(๐ก)]
โ1
C๐
๐ (๐ก) , (19)
whereC๐
๐ (๐ก) represents the transformmatrix from the ๐ frame
to the computed inertial frame ๐ and is given by
C๐
๐ (๐ก) = C๐
๐ (0) ฮC๐
๐ , (20)
where the attitude matrix C๐
๐ (0) relates the ๐ frame to the ๐
frame at the beginning of the fine alignment, which is derivedfrom the coarse alignment. Through the attitude quaternionupdating algorithm, the matrix ฮC๐
๐ can be computed recur-
sively with the gyro and accelerometer outputs. Furthermore,there exist misalignment angles ๐๐ between the inertial frame๐ and the computed inertial frame ๐ owing to componenterrors; the transitionmatrixC๐
๐can be constructed as follows:
C๐
๐= ๐ผ โ [๐
๐ร] =
[[[
[
1 โ๐๐
๐ง๐๐
๐ฆ
๐๐
๐ง1 โ๐
๐
๐ฅ
โ๐๐
๐ฆ๐๐
๐ฅ1
]]]
]
. (21)
By substituting (20) in (19), the transform matrix C๐๐ (๐ก)
can be determined. So themain problemof the fine alignmentbecomes the estimation of misalignment angles ๐๐. Systemerror equations should be established firstly, which includevelocity and attitude error equations. The measured specificforce projected from accelerometer in the ๐ frame can bewritten as
C๐
๐ ๐๐
= C๐
๐ [(๐ผ + ๐ฟ๐พ๐ด) (๐ผ + ๐ฟ๐ด) (โ๐
๐ + ๐๐
LA + ๐๐
๐ท) + โ]
โ โ๐๐+ ๐๐ร ๐๐+ C๐๐ โ + C๐
๐ ๐๐
LA + C๐
๐ ๐ฟ๐๐ ,
(22)
Mathematical Problems in Engineering 5
where ๐ฟ๐๐ is the interference acceleration in the ๐ frame andaccelerometer bias โ includes constant drift โ๐ and Gaussianwhite noise โ๐ค, namely, โ = โ๐ + โ๐ค. So (22) can be writtenas
C๐
๐ ๐๐ + ๐๐โ C๐
๐ ๐๐
LA = ๐๐ร ๐๐+ C๐๐ โ๐ + C
๐
๐ โ๐ค + ๐ฟ๐
๐. (23)
Integrating (23) from ๐ก1 to ๐ก yields
Vฬ๐ = โซ๐ก
๐ก1
C๐
๐ ๐๐ ๐๐ + โซ
๐ก
๐ก1
๐๐๐๐ โ โซ
๐ก
๐ก1
C๐
๐ ๐๐
LA๐๐
= โซ
๐ก
๐ก1
๐๐ร ๐๐๐๐ + โซ
๐ก
๐ก1
C๐๐ โ๐๐๐ + โซ
๐ก
๐ก1
C๐๐ โ๐ค๐๐
+ โซ
๐ก
๐ก1
๐ฟ๐๐๐๐,
(24)
where V๐LA = โซ๐ก
๐ก1C๐
๐ ๐๐
LA๐๐ = C๐
๐ (๐๐
๐๐ ร ๐๐ ), ๐ฟV๐๐ท= โซ๐ก
๐ก1๐ฟ๐๐๐๐,
V๐๐= โซ๐ก
๐ก1๐๐๐๐, and V๐
๐= โซ๐ก
๐ก1C๐
๐ ๐๐ ๐๐. Consider
๐ฟV๐ = โซ๐ก
๐ก1
๐๐ร ๐๐๐๐ + โซ
๐ก
๐ก1
C๐๐ โ๐๐๐ + โซ
๐ก
๐ก1
C๐๐ โ๐ค๐๐. (25)
Measurement vectors could be described as follows:
Z = Vฬ๐ = V๐๐+ V๐๐โ V๐LA = ๐ฟV
๐+ V๐ค + ๐ฟV
๐
๐ท. (26)
In interference angular velocities and accelerations envi-ronment, the velocity error equation in the inertial frame canbe defined as
๐ฟVฬ๐ = โ๐๐ ร ๐๐ + C๐๐ โ๐ + C
๐
๐ โ๐ค. (27)
In accordance with the differential equations of C๐๐ and
C๐
๐ , themisalignment angle equation in the inertial frame can
be defined as
๏ฟฝฬ๏ฟฝ๐= โC๐๐ ๐๐ โ C
๐
๐ ๐๐ค, (28)
where ๐๐ and ๐๐ค are gyro constant drift and Gaussian whitenoise.
With gyro drift and accelerometer bias added to statevectors, the state equation in the dynamic disturbance envi-ronment is described as follows:
Xฬ (๐ก) = A (๐ก)X (๐ก) + B (๐ก)W. (29)
The state vectors and system noise in (29) are
X (๐ก) = [๐ฟ๐๐๐ฅ, ๐ฟ๐๐
๐ฆ, ๐ฟ๐๐
๐ง, ๐๐
๐ฅ, ๐๐
๐ฆ, ๐๐
๐ง, ๐๐๐ฅ, ๐๐๐ฆ, ๐๐๐ง, โ๐๐ฅ,
โ๐๐ฆ, โ๐๐ง]๐
W = [โ๐ค๐ฅ, โ๐ค๐ฆ, โ๐ค๐ง, ๐๐ค๐ฅ, ๐๐ค๐ฆ, ๐๐ค๐ง, 0, 0, 0, 0, 0, 0]๐
,
(30)
where six vectors in ๐(๐ก) are the noise of accelerometersand gyros in the ๐ frame, which is normally distributed whitenoise with zero mean and๐(๐ก) variance.The state matrix and
system noise matrix of Rotary SINS in the inertial frame areas follows:
A =[[[[[[
[
03ร3 โ (๐๐(๐ก) ร) 03ร3 C๐๐ (๐ก)
03ร6 โC๐๐ (๐ก) 03ร303ร12
03ร12
]]]]]]
]
,
B =[[[[[
[
C๐๐ (๐ก) 03ร3 03ร3 03ร3
03ร3 โC๐๐ (๐ก) 03ร603ร12
03ร12
]]]]]
]
.
(31)
Furthermore, velocity errors are selected as measurementvectors and the measurement equation is
Z (๐ก) = HX (๐ก) + V๐ค + ๐ฟV๐
๐ท. (32)
The measurement matrix in (32) is
H = [I3ร3 03ร9] , (33)
where ๐ฟV๐๐ทis uncertainty measurement disturbance caused
by the marineโs rock and sway. V๐ค is system measurementnoise, which is white noise.
3.2. Observability Analysis Using PWCS and SVD. For thedesigning of optimal filter, the observability of the systemmodel is an important issue and requires careful investiga-tion, as it is crucial for the stability and convergence of the fil-ter. In this section, the observability analysis of the fine align-ment model for Rotary SINS is discussed using twomethods,which are piecewise constant system (PWCS) [16, 17] methodand singular value decomposition (SVD) [18, 19]. First, thePWCS analysis method is used to discover the number of theobservable state value inMATLAB. Second, the SVDmethodis used to calculate the observable degree of every state value,because it is an efficient method to analyze the observabledegree of every state value for completely observable and theincompletely observable system.
Assume that the matrix ๐ ๐ is the observability matrix ofa dynamic system; it can be expressed by
๐ ๐ = ๐ฮฃ๐๐, (34)
where ๐ = [๐ข1, ๐ข2, . . . , ๐ข๐] and ๐ = [V1, V2, . . . , V๐] are bothorthogonal matrixes. ฮฃ = [๐ 0(๐โ๐)ร๐]
๐ is a matrix with๐ร๐order, ๐ = diag{๐1, ๐2, . . . , ๐๐} is a diagonal matrix, and ๐1 โฅ๐2 โฅ โ โ โ โฅ ๐๐ > 0 are called the singular value of the matrix๐ ๐, ๐ = rank(๐ด).
The measurement matrix is given by
๐ ๐๐0 = ๐, (35)
6 Mathematical Problems in Engineering
Table 1: The comparison of observable degree for Rotary SINS.
Time ๐ฟ๐๐ฅ
๐ฟ๐๐ฆ
๐ฟ๐๐ง
๐๐ฅ
๐๐ฆ
๐๐ง
๐๐ฅ
๐๐ฆ
๐๐ง
โ๐ฅ
โ๐ฆ
โ๐ง
1 1.0135 1.1031 1.0324 0.6251 13.8570 13.8636 13.7323 13.9108 2.2515 1.4198 1.4641 1.39462 1.1089 1.2246 1.1567 0.6785 13.8836 13.8975 13.7635 13.9438 2.4624 1.4856 1.5358 1.42983 1.2452 1.3244 1.2346 0.7037 13.9104 13.9044 13.8015 13.9704 2.6584 1.5203 1.5747 1.4742
where ๐0 is the initial state vector and ๐ is measurementvector. By substituting (34) into (35), we can obtain
๐ =
๐
โ
๐=1
๐๐ (V๐
๐๐0) ๐ข๐ (36)
๐0 = (๐ฮฃ๐๐)โ1
๐ =
๐
โ
๐=1
(๐ข๐
๐๐ง
๐๐
) V๐. (37)
According to (37), initial state vector ๐0 describes anellipsoid when measurement vector ๐ is constant norm, andthe equation is given by
๐
โ
๐=1
(V๐๐๐0๐ข๐
๐๐
)
2
=๐ฆ
2, (38)
where ๐๐ = 1/๐๐ represents the principal axis length of theellipsoid. Obviously, the volume of the ellipsoid is determinedby singular value. The volume reduces as well as the statevector ๐0 when the singular value rises up. Therefore,singular value represents the ellipsoid radius formed by theestimated initial state. The ellipsoid radius becomes smalleras the singular value becomes larger, and the estimationperformance of the initial state is better.
For Rotary SINS, we use dual-axis rotation schemepresented above; the initial state vector corresponding to 12singular values is found by (34)โ(38), and the rotating angularvelocity is ๐1 = 3๐2 = 18
โ/s. Table 1 shows the comparison
of observable degree for Rotary SINS in interference angularvelocities and accelerations environment during three succes-sive time periods.
Table 1 demonstrates that the system is completelyobservable and every state value can be estimated with theSVD theory. Particularly, ๐๐ฆ, ๐๐ง, ๐๐ฆ, ๐๐ฅ, and ๐๐ง which have alarger observable degree can reach a better alignment effect.The observable degree of ๐ฟ๐๐ฅ, ๐ฟ๐๐ฆ, and ๐ฟ๐๐ง is almost 1.Compared with the other eleven states, the observable degreeof ๐๐ฅ is a little smaller. But it is large enough to be observable.On the basis of observability theory, the filter has beendesigned to estimate the system state parameters.
4. Novel Adaptive Kalman Filter Designed forFine Alignment
In the fine alignment procedure, Kalman filter is an optimallinear estimator when the measurement noise has a Gaussiandistribution with known covariance. However, when RotarySINS is under the large dynamic disturbance environment,the conventional Kalman filter becomes not an optimalestimator, which may tend to diverge. In this section, a novel
adaptive Kalman filter for fine alignment that utilizes themeasurement residual to estimate measurement noise vari-ance in real time is investigated. The novel adaptive filteris developed according to the optimality condition of theadaptive Kalman filter presented in [20, 21].
The system error model which we discussed above can beconsidered as the following state-space system:
๐๐ = ฮฆ๐,๐โ1๐๐โ1 + ฮ๐โ1๐๐โ1, (39)
๐๐ = ๐ป๐๐๐ + ๐๐. (40)
The measurement residual is given by
๐ฟ๐๐ = ๐๐ โ ๐ป๐๐๐,๐โ1. (41)
By substituting (40) in (41), themeasurement residual canbe written as
๐ฟ๐๐ = ๐ป๐ (๐๐ โ ๐๐,๐โ1) + ๐1๐ + ๐ผ๐2๐
+ ๐ (๐๐, ๐๐,๐โ1) ,
(42)
where ๐ผ is a real number, ๐ผ โฅ 0, ๐1๐ is the measurementnoise with a fixed variance, and ๐2๐ is the time-varyingmeasurement noise. It is assumed that the two types of mea-surement noises are uncorrelated. ๐(๐๐, ๐๐,๐โ1) is the higherorder item in the estimation error. If this item is ignored, (42)can be simplified to
๐ฟ๐๐ = ๐ป๐ (๐๐ โ ๐๐,๐โ1) + ๐1๐ + ๐ผ๐2๐. (43)
The covariance of the measurement residual is expressedas
S๐,๐โ1 = ๐ธ [๐ฟZ๐๐ฟZ๐
๐] = H๐P๐,๐โ1H
๐
๐+ R1๐ + ๐ฝR2๐, (44)
where ๐ฝ = ๐ผ2 is scalar value that accommodates the filterโsstability and optimality, R1๐ = ๐ธ[V1๐V๐1๐], and R2๐ =๐ธ[V2๐V๐2๐].
The covariance of state estimation error is defined as
๐๐,๐โ1 = ฮฆ๐,๐โ1๐๐โ1ฮฆ๐
๐,๐โ1+ ๐๐. (45)
Substituting (45) into (44) results in
S๐,๐โ1 = H๐ (ฮฆ๐,๐โ1๐๐โ1ฮฆ๐
๐,๐โ1+ ๐๐)H
๐
๐+ R1๐
+ ๐ฝR2๐ = ๐ฟ1 + ๐ฝ๐ฟ2,(46)
where ๐ฟ1 = H๐(ฮฆ๐,๐โ1๐๐โ1ฮฆ๐๐,๐โ1+๐๐)H๐
๐+R1๐ and ๐ฟ2 = R2๐.
Mathematical Problems in Engineering 7
Thus we can get the optimal gain of the adaptive Kalmanfilter as follows:
๐พ๐ = ๐๐,๐โ1๐ป๐
๐๐โ1
๐,๐โ1. (47)
To obtain the optimal gain, in [15], the cost equation isdefined in terms of minimizing the Frobenius norm to calcu-late ๐ฝ value in real time. In this paper, we employ the opti-mality condition of the adaptive Kalman filter to obtain theoptimal gain. The following equation shows the optimalitycondition, which means that the sequence of measurementresiduals is uncorrelated:
๐ถ๐ (๐) = E [๐ฟZ๐+๐๐ฟZ๐
๐] = H๐P๐,๐โ1H
๐
๐+ R1๐ + ๐ฝR2๐
= 0 (๐ = 1, 2, . . . ; ๐ = 0, 1, . . .) .
(48)
The autocovariance of the measurement residuals is
๐ถ๐ (๐) = E [๐ฟZ๐+๐๐ฟZ๐
๐]
= ๐ป๐+๐๐๐+1,๐+๐โ1 [๐ผ โ ๐พ๐+๐โ1๐ป๐+๐โ1]
โ โ โ ๐๐+2,๐+1 [๐ผ โ ๐พ๐+1๐ป๐+1]
โ ๐๐+1,๐ [๐๐|๐โ1๐ป๐
๐โ ๐พ๐๐ถ0 (๐)] , โ๐ = 1, 2, 3, . . . .
(49)
In reality, the real covariance of the measurement residu-als is different from a theoretical one owing to model errorsor unknown external disturbances. Thus, ๐ถ๐(๐) may not beidentical to zero. From (49), we know that if the last termof ๐ถ๐(๐) which is the only common item of ๐ถ๐(๐) for all๐ = 1, 2, 3, . . . is zero,
๐๐|๐โ1๐ป๐
๐โ ๐พ๐๐ถ0 (๐) = 0, (50)
then the gain ๐พ๐ is optimal. In other words, if the gain ๐พ๐is optimal, (50) holds. Equation (50) forms the basis fordetermining scalar value ๐ฝ. In particular,๐ถ0(๐) in (50) whichis computed from measured data in real time, according to ๐successive residuals, can be shown as
๐ถ0 (๐) =1
๐ โ 1
๐
โ
๐=1
๐ฟ๐๐๐ฟ๐๐
๐. (51)
The optimal scalar value ๐ฝ can be obtained by (52) whenthe system model satisfies Assumptions 1 and 2, which is theoptimality condition of the adaptive Kalman filter presentedin [20, 21].
Assumption 1. ๐(๐), ๐ (๐), and ๐(0) are all positive definitesymmetrical matrix.
Assumption 2. Themeasurement matrix๐ป(๐) is full ranked:
๐ฝ =tr [๐ถ0 (๐) โ ๐ฟ1]
tr [๐ฟ2], (52)
where if ๐ฝ โค 0, ๐ฝ = 0 and if ๐ฝ โฅ max๐ฝ, ๐ฝ = max๐ฝ.
Proof. Substituting (47) into the optimality condition (50)gives
๐๐|๐โ1๐ป๐
๐[๐ผ โ (๐ฟ1 + ๐ฝ๐ฟ2)
โ1๐ถ0 (๐)] = 0. (53)
Since ๐๐|๐โ1 and ๐ถ0(๐) are full-ranked symmetric matrixaccording to Assumptions 1 and 2 and (51), left multiplying๐โ1
๐|๐โ1and right multiplying ๐ถ0(๐)
โ1 on both sides of (53), itis obvious that (53) implies the following relation:
๐ป๐
๐๐ถ0 (๐)
โ1โ ๐ป๐
๐(๐ฟ1 + ๐ฝ๐ฟ2)
โ1= 0; (54)
then
๐ป๐
๐๐ถ0 (๐)
โ1(๐ฟ1 + ๐ฝ๐ฟ2) = ๐ป
๐
๐. (55)
Since ๐ป๐ is full-ranked matrix according toAssumption 2, (55) is simplified as
๐ฝ๐ฟ2 = ๐ถ0 (๐) โ ๐ฟ1. (56)
To avoid inversionmanipulation, trace is directly taken inboth sides of (56):
tr (๐ฝ๐ฟ2) = tr (๐ถ0 (๐) โ ๐ฟ1) (57)
then we can get the scalar value ๐ฝ in (52). Proof ends.
As shown in [20, 21], instability issues may arise when noupper bound is set for the scalar value. Thus the upper andlower bound are defined for the measurement noise varianceas [0 ๐ฝmax], and the rule is as follows: if ๐ฝ โค 0, ๐ฝ = 0 and if๐ฝ โฅ ๐ฝmax, ๐ฝ = ๐ฝmax.The ๐ฝmax value can be defined by the useraccording to (44).
Substituting ๐ฝ into (46) during the initial alignmentprocess, the proposed adaptive filter for the system stateestimation is as follows:
๐๐,๐โ1 = ฮฆ๐,๐โ1๐๐โ1,
๐๐,๐โ1 = ฮฆ๐,๐โ1๐๐โ1ฮฆ๐
๐,๐โ1+ ๐๐,
๐ฟ1 = H๐ (ฮฆ๐,๐โ1๐๐โ1ฮฆ๐
๐,๐โ1+ ๐๐)H
๐
๐+ R1๐,
๐ฟ2 = R2๐,
๐ถ0 (๐) =1
๐ โ 1
๐
โ
๐=1
๐ฟ๐๐๐ฟ๐๐
๐,
๐ฝ =tr [๐ถ0 (๐) โ ๐ฟ1]
tr [๐ฟ2],
๐๐,๐โ1 = ๐ป๐๐๐,๐โ1๐ป๐
๐+ ๐ 1๐ + ๐ฝ๐ 2๐,
๐พ๐ = ๐๐,๐โ1๐ป๐
๐๐โ1
๐,๐โ1,
๐๐ = [๐ผ โ ๐พ๐๐ป๐] ๐๐,๐โ1,
๐๐ = ๐๐,๐โ1 + ๐พ๐ [๐๐ โ ๐ป๐๐๐,๐โ1] .
(58)
For (32) it consists of three measurements. A scalar value๐ฝ is required for each measurement, as every measurement
8 Mathematical Problems in Engineering
0 1000 2000 3000 4000
20
0
โ20
โ40
โ60
โ80
โ100
100
80
60
40
20
0
โ20
t (s)0 1000 2000 3000 4000
t (s)0 1000 2000 3000 4000
t (s)
๐ฟ๐x()
๐ฟ๐z()
50
0
โ50
โ100
๐ฟ๐y()
(a) Estimation of attitude errors
0
5
10
15
0204060
โ5
โ10 โ60
โ40
โ20
0204060
โ60
โ40
โ20
0 1000 2000 3000 4000t (s)
0 1000 2000 3000 4000t (s)
0 1000 2000 3000 4000t (s)
๐ฟVx
(m/s
)
๐ฟVy
(m/s
)
๐ฟVz
(m/s
)
(b) Estimation of velocity error
0 1000 2000 3000 4000
1
0.5
0
โ0.5
โ1
โ1.5
โ2
2
0
โ2
โ4
โ6
โ8
โ10
1
0
โ1
โ2
โ3
โ40 1000 2000 3000 40000 1000 2000 3000 4000
t (s) t (s) t (s)
ร10โ4 ร10โ5
ร10โ3
๐ x(โ/h)
๐ y(โ/h)
๐ z(โ/h)
(c) Estimation of gyro drifts
0
50
0
20
40
60
80
050
โ50
โ100
โ20
โ50
โ100
โ150
โ200
โ250โ1500 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
t (s) t (s) t (s)
โx
(๐g)
โy
(๐g)
โz
(๐g)
(d) Estimation of accelerometer biases
Figure 1: The simulation results of NAKF.
has unique characteristics. Similar to [15], this paper solvesthis problem using a scalar measurement updating ๐/๐ทcovariance factorization filter, where๐ is an upper triangularand unitary matrix and ๐ท is a diagonal matrix. It is alsoadvantageous to utilize the ๐/๐ท covariance factorizationfilter when designing and implementing the novel adaptivefilter.
5. Simulation Results
The parameters of the simulation are set as follows.
The marine is rocked by the surf and wind. The pitch ๐,roll ๐พ, and heading ๐ resulting from the marine rocking arechanged periodically and can be described as follows:
๐ = 7โ cos(2๐
5๐ก +
๐
4)
๐พ = 10โ cos(2๐
6๐ก +
๐
7)
๐ = 30โ+ 5โ cos(2๐
7๐ก +
๐
3) .
(59)
Mathematical Problems in Engineering 9
0 100 200 300 400 500 600
SHAFAKFNAKF
t (s)
100
80
60
40
20
0
โ20
โ40
Hea
ding
erro
r( )
(a) Tilt misalignment angle
0 100 200 300 400 500 600t (s)
Pitc
h er
ror(
)
40
20
0
โ20
โ40
โ60
โ80
โ100
โ120
SHAFAKFNAKF
(b) Eastern misalignment angle
0 100 200 300 400 500 600t (s)
Roll
erro
r( )
50
0
โ50
โ100
SHAFAKFNAKF
(c) Northern misalignment angle
Figure 2: The results depending on the filter with mean misalignment angles.
The velocity caused by surge, sway, and heave is as follows:
๐๐ท๐ = ๐ด๐ท๐๐๐ท๐ cos (๐๐ท๐๐ก + ๐๐ท๐) , (60)
where ๐ = ๐ฅ, ๐ฆ, ๐ง,๐ด๐ท๐ฅ = 0.02m,๐ด๐ท๐ฆ = 0.03m,๐ด๐ท๐ง = 0.3m,๐๐ท๐ = 2๐/๐๐ท๐, ๐๐ท๐ฅ = 7 s, ๐๐ท๐ฆ = 6 s, and ๐๐ท๐ง = 8 s. ๐๐ท๐ obeysthe uniform distribution on the interval [0, 2๐].
The IMU errors are set as follows: the gyro constant drift:0.01โ/h; the gyro random noise: 0.001โ/h; the accelerator bias:1ร10
โ4 g; and the accelerator measurement noise: 1ร10โ5 g.Rotary SINS location: north latitude is 40โ and east longitudeis 118โ. According to the rule shown in the previous section,double-axis rotation rate is given by ๐1 = 3๐2 = 18
โ/s.
Simulation 1. The coarse alignment lasts 120 s. The values of๐ก๐1 and ๐ก๐2 in (17) are set to 50 s and 120 s, respectively. Thesimulation for the coarse alignment runs 50 times.The pitch,roll, and heading errors at the end of the coarse alignmentsare shown in Table 2.
From Table 2, it is obvious that the level attitude errors ofthe coarse alignment are less than 0.2 degrees and the headingattitude error is less than 1.5 degrees.The attitude errors calcu-lated by the proposed coarse alignment algorithm can fulfill
the requirement for the fine alignment. But it only accom-plished the coarse estimation of attitude errors in initialalignment. Thus 600-second fine alignment is followed.
Next, the mean and the maximum of misalignmentangles in Table 2 are used, respectively, as input for finealignment to validate the proposed adaptive filter in initialalignment under dynamic disturbance condition. The meanofmisalignment angles is used in Simulations 2 and 3, and themaximum of misalignment angles is used in Simulation 4.
Simulation 2. The simulation results are shown in Figure 1.It is clear that all the states are observable and the resultconfirms the former analysis. According to Figure 1(a), con-vergence time of level misalignment angle is within 60 s, andprecision is 1, while azimuth misalignment angle conver-gence time iswithin 80 s, and precision is about 1.3.The threevelocity errors as observed variables depicted in Figure 1(b)are certainly observable. As seen from Figure 1(c), gyro driftsconverge not so rapidly, but a rather good filtering result canbe obtained. Figure 1(d) shows that the horizontal accelerom-eters constant biases โ๐ฅ and โ๐ฆ converge to a constantvalue in short time. The vertical converges soon afterwardswith good estimation performance. The simulation results
10 Mathematical Problems in Engineering
0 100 200 300 400 500 600
120
100
80
60
40
20
0
โ20
Hea
ding
erro
r( )
t (s)
SHAFAKFNAKF
(a) Tilt misalignment angle
0 100 200 300 400 500 600t (s)
SHAFAKFNAKF
Pitc
h er
ror(
)
20
0
โ20
โ40
โ60
โ80
โ100
โ120
(b) Eastern misalignment angle
20
0
โ20
โ40
โ60
โ80
โ120
โ100
Roll
erro
r( )
0 100 200 300 400 500 600t (s)
SHAFAKFNAKF
(c) Northern misalignment angle
Figure 3: The results depending on the filter with maximum misalignment angles.
Table 2: Statistics for coarse alignment results.
Parameter item Max. Min. MeanPitch error (โ) 0.0740 โ0.0986 0.0287Roll error (โ) 0.1563 โ0.2668 โ0.0419Heading error (โ) 1.4611 โ0.1044 0.1506
demonstrate that all the system state parameters can be esti-mated by the presented filter. It can be seen that the presentedalignment method can effectively depress the random distur-bances under dynamic environment.
Simulation 3. Consideringmeasurement uncertainties underthe dynamic disturbing conditions, Sage-Husa adaptive filter(SHAF) used in [22], adaptive Kalman filter (AKF) pre-sented in [15], and the novel adaptive Kalman filter (NAKF)proposed in this paper are employed to evaluate the filterperformance. The simulation results are shown in Figure 2and Table 3.
The simulation results demonstrate that the performanceand convergence speed of NAKF which can estimate the
variance of the measurement noise in real time are betterthan those of AKF and SHAF.This implies that, in the case ofdynamic disturbance, NAKF functions better than SHAF andAKF and provides the optimal estimation.Then Simulation 3with the maximum initial figures is made.
Simulation 4. The simulation results show that the proposedNAKF is efficient with large initial attitude error. The resultsare shown in Figure 3 and Table 4. Compared with SHAF andAKF, NAKF provides higher performance and better stabilityin estimating themisalignment angles when large errors existin the measurement values. The result demonstrates thatNAKF can effectively depress the random disturbances inmeasurements noise variance caused by the ship rocking.Taking into account the unknown outside disturbances andthe complicated working environment, the proposed NAKFwith the optimality of filter is applicable in implementinginitial alignment of Rotary SINS.
6. Conclusions
Based on the alignment mechanism of tracing the grav-itational apparent motion in inertial frame, an initial
Mathematical Problems in Engineering 11
Table 3: The mean misalignment angle errors depending on thefilter.
Parameter item SHAF AKF NAKFPitch error () โ1.43 โ1.17 1.02Roll error () โ1.62 โ1.29 1.07Heading error () 1.85 1.54 โ1.26
Table 4: The maximum misalignment angle errors depending onthe filter.
Parameter item SHAF AKF NAKFPitch error () 2.93 2.59 โ1.89Roll error () 3.09 โ2.29 1.80Heading error () 3.81 โ2.14 1.84
self-alignment method based on the novel adaptive Kalmanfilter for Rotary SINS is developed. Before the filter isdesigned, observability is analyzed using PWCS method andSVD method. The theoretical analysis results show that thefine alignment error model is completely observable and allthe system state parameters can be estimated. For the uncer-tainties measurement noise, the novel adaptive Kalman filterthat estimates measurement noise variance in real time usingmeasurement residual is designed.
Simulation results proved the accuracy and validity ofthe proposed method, and the estimation results of thesystem states can approach the theoretical analysis results. Inaddition, this method is fully self-aligned with no externalreference information under dynamic disturbances condi-tion. But in this paper, only simulation test is finished. Moretests, such as turntable and shipboard test, should be studiedbefore they can be widely used in engineering.
Conflict of Interests
The authors declare that there is no conflict of interestsregarding the publication of this paper.
Acknowledgment
This work was supported by the Program for the Top YoungInnovative Talents of Beijing CITTCD201304046.
References
[1] Y. Y. Qin, Inertial Navigation, Science Press, Beijing, China,2006.
[2] Q. Ren, B. Wang, Z. H. Deng, and M. Y. Fu, โA multi-positionself-calibration method for dual-axis rotational inertial navi-gation system,โ Sensors and Actuators A: Physical, vol. 219, pp.24โ31, 2014.
[3] F. Sun, Q. Sun, Y. Y. Ben, Y. Zhang, and G. Wei, โA newmethod of initial alignment and self-calibration based ondual-axis rotating strapdown inertial navigation system,โ IEEETransactions onAerospace and Electronic Systems, vol. 48, no. 29,pp. 1323โ1328, 2012.
[4] A. Acharya, S. Sadhu, and T. K. Ghoshal, โImproved self-alignment scheme for SINS using augmented measurement,โAerospace Science and Technology, vol. 15, no. 2, pp. 125โ128,2011.
[5] T. Gaiffe, Y. Cottreau, N. Faussot, G. Hardy, P. Simonpietri, andH. Arditty, โHighly compact fiber optic gyrocompass for appli-cations at depths up to 3000 meters,โ in Proceedings of theInternational Symposium on Underwater Technology, pp. 155โ160, Tokyo, Japan, 2000.
[6] T. Gaiffe, โFrom R&D brassboards to navigation grade FOG-based INS: the experience of Photonetics/Ixseasea,โ in Proceed-ings of the 15th Optical Fiber Sensors Conference Technical Digest(Ofs โ02), vol. 1, pp. 1โ4, IEEE, Portland, Ore, USA, May 2002.
[7] J.-X. Lian, Y.-G. Tang, M.-P. Wu, and X.-P. Hu, โStudy on SINSalignment algorithm with inertial frame for swaying bases,โJournal of National University of Defense Technology, vol. 29, no.5, pp. 95โ99, 2007.
[8] G. M. Yan, J. Weng, L. Bai, and Y. Y. Qin, โInitial in movementalignment and position determination based on inertial refer-ence frame,โ Systems Engineering and Electronics, vol. 33, no. 3,pp. 618โ621, 2011.
[9] F. Sun and T. Cao, โAccuracy analysis of coarse alignment basedon gravity in inertial frame,โ Chinese Journal of ScientificInstrument, vol. 32, no. 11, pp. 2409โ2415, 2011.
[10] F. Wu, Y.-Y. Qin, and Q. Zhou, โError Analysis of indirect ana-lytic alignment algorithm,โ Systems Engineering and Electronics,vol. 35, no. 3, pp. 586โ590, 2013.
[11] W. Gao, Y. Ben, X. Zhang, Q. Li, and F. Yu, โRapid fine strap-down ins alignmentmethod undermarinemooring condition,โIEEE Transactions on Aerospace and Electronic Systems, vol. 47,no. 4, pp. 2887โ2896, 2011.
[12] D. Loebis, R. Sutton, J. Chudley, and W. Naeem, โAdaptivetuning of a Kalman filter via fuzzy logic for an intelligent AUVnavigation system,โ Control Engineering Practice, vol. 12, no. 12,pp. 1531โ1539, 2004.
[13] A. Chatterjee and F. Matsuno, โA neuro-fuzzy assisted extendedkalman filter-based approach for simultaneous localizationand mapping (SLAM) problems,โ IEEE Transactions on FuzzySystems, vol. 15, no. 5, pp. 984โ997, 2007.
[14] Y. Y. Qin, X. Y. Zhu, C. S. Zhao, and L. Bai, โDesign and sim-ulation on SINS self-alignment for carrier born aircraft,โ Jour-nal of Chinese Inertial Technology, vol. 16, no. 1, pp. 28โ33, 2008.
[15] M.-J. Yu, โINS/GPS integration system using adaptive filter forestimating measurement noise variance,โ IEEE Transactions onAerospace and Electronic Systems, vol. 48, no. 2, pp. 1786โ1792,2012.
[16] D.Goshen-Meskin and I. Y. Bar-Itzhack, โObservability analysisof piecewise constant systems. I. Theory,โ IEEE Transactions onAerospace and Electronic Systems, vol. 28, no. 4, pp. 1056โ1067,1992.
[17] D.Goshen-Meskin and I. Y. Bar-Itzhack, โObservability analysisof piecewise constant systems-Part II: application to inertialnavigation in-flight alignment,โ IEEE Transaction on Aerospaceand Electronic Systems, vol. 28, no. 4, pp. 1068โ1075, 1992.
[18] S. Hong, H.-H. Chun, S.-H. Kwon, and M. H. Lee, โObserv-ability measures and their application to GPS/INS,โ IEEETransactions on Vehicular Technology, vol. 57, no. 1, pp. 97โ106,2008.
[19] Y. X. Wu, H. L. Zhang, M. P. Wu, X. P. Hu, and D. W. Hu,โObservability of strapdown INS alignment: a global perspec-tive,โ IEEE Transactions on Aerospace and Electronic Systems,vol. 48, no. 1, pp. 78โ102, 2012.
12 Mathematical Problems in Engineering
[20] Y. Y. Qin, H. Y. Zhang, and S. H. Wang, Kalman Filter andIntegrated NavigationTheory, Northwestern Polytechnical Uni-versity Press, Xiโan, China, 2nd edition, 2012.
[21] M.-J. Yu, J. G. Lee, and C. G. Park, โNonlinear robust observerdesign for strapdown INS in-flight alignment,โ IEEE Transac-tions on Aerospace and Electronic Systems, vol. 40, no. 3, pp. 797โ807, 2004.
[22] W.-X. Su, C.-M.Huang, P.-W. Liu, andM.-L.Ma, โApplication ofadaptive Kalman filter technique in initial alignment of inertialnavigation system,โ Journal of Chinese Inertial Technology, vol.18, no. 1, pp. 44โ47, 2010.
Submit your manuscripts athttp://www.hindawi.com
Hindawi Publishing Corporationhttp://www.hindawi.com Volume 2014
MathematicsJournal of
Hindawi Publishing Corporationhttp://www.hindawi.com Volume 2014
Mathematical Problems in Engineering
Hindawi Publishing Corporationhttp://www.hindawi.com
Differential EquationsInternational Journal of
Volume 2014
Applied MathematicsJournal of
Hindawi Publishing Corporationhttp://www.hindawi.com Volume 2014
Probability and StatisticsHindawi Publishing Corporationhttp://www.hindawi.com Volume 2014
Journal of
Hindawi Publishing Corporationhttp://www.hindawi.com Volume 2014
Mathematical PhysicsAdvances in
Complex AnalysisJournal of
Hindawi Publishing Corporationhttp://www.hindawi.com Volume 2014
OptimizationJournal of
Hindawi Publishing Corporationhttp://www.hindawi.com Volume 2014
CombinatoricsHindawi Publishing Corporationhttp://www.hindawi.com Volume 2014
International Journal of
Hindawi Publishing Corporationhttp://www.hindawi.com Volume 2014
Operations ResearchAdvances in
Journal of
Hindawi Publishing Corporationhttp://www.hindawi.com Volume 2014
Function Spaces
Abstract and Applied AnalysisHindawi Publishing Corporationhttp://www.hindawi.com Volume 2014
International Journal of Mathematics and Mathematical Sciences
Hindawi Publishing Corporationhttp://www.hindawi.com Volume 2014
The Scientific World JournalHindawi Publishing Corporation http://www.hindawi.com Volume 2014
Hindawi Publishing Corporationhttp://www.hindawi.com Volume 2014
Algebra
Discrete Dynamics in Nature and Society
Hindawi Publishing Corporationhttp://www.hindawi.com Volume 2014
Hindawi Publishing Corporationhttp://www.hindawi.com Volume 2014
Decision SciencesAdvances in
Discrete MathematicsJournal of
Hindawi Publishing Corporationhttp://www.hindawi.com
Volume 2014 Hindawi Publishing Corporationhttp://www.hindawi.com Volume 2014
Stochastic AnalysisInternational Journal of
Recommended