Skip to main content
SpringerLink
Log in

Initial Alignment of Shipborne SINS under Ship Motion

  • Published:
Gyroscopy and Navigation Aims and scope Submit manuscript

Abstract—The paper focuses on improving the accuracy and shortening the time of shipborne SINS initial alignment under the ship yawing, rolling and pitching motions. This is achieved by implementing a two-step SINS alignment algorithm. At the first step, the ship attitude parameters are approximately autonomously estimated by data from gyros and accelerometers. The description of ship dynamics is introduced, and water speed log data are applied. At the second step, the system fine alignment is performed with account for alignment errors after the completion of the first step. Speed and position measurements from external aids are additionally applied during the fine alignment. Kalman filter algorithms are used at the first and second steps. Results from bench and sea tests for SINS on navigation grade FOGs under the ship yawing, rolling and pitching motion are provided.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1.
Fig. 2.
Fig. 3.
Fig. 4.
Fig. 5.
Fig. 6.
Fig. 7.
Fig. 8.
Fig. 9.

Similar content being viewed by others

REFERENCES

  1. Lipton, A.H., Alignment of Inertial Systems on a Moving Base, NASA, 1967.

    Google Scholar 

  2. Veremeenko, K.K., Krasil’shchikov, M.N. et al., Upravlenie i navedenie bespilotnykh manevrennykh letatel’nykh apparatov na osnove sovremennykh informatsionnykh tekhnologii (Control and Guidance of Maneuverable Unmanned Aerial Vehicles Based on Modern Information Technologies), Krasil’shchikov, M.N., Sebryakov, G.G., Eds., Moscow: Fizmatlit, 2003.

    Google Scholar 

  3. Hirokawa, R. and Ebinuma, T., A low-cost tightly coupled GPS/INS for small UAVs augmented with multiple GPS antennas, NAVIGATION: Journal of The Institute of Navigation, 2009, vol. 56, no. 1, pp. 35–44.

    Article  Google Scholar 

  4. Grewal, M.S., Andrews, A.P., and Bartone, C.G., Global Navigation Satellite Systems, Inertial Navigation, and Integration, Wiley, 2013, third edition.

    Google Scholar 

  5. Tijing Cai, Qimeng Xu, Emel’yantsev, G.I., Ste-panov, A.P., Daijin Zhou, Shuaipeng Gao, Yang Liu, and Junxiang Huang, A multimode GNSS/MIMU integrated orientation and navigation system, 26 th St. Petersburg International Conference on Integrated Navigation Systems, 2019.

  6. Emel’yantsev, G.I., Stepanov, A.P, and Blazhnov, B.A., Initial alignment of SINS measuring unit and estimation of its errors using satellite phase measurements, Gyroscopy and Navigation, 2019, vol. 10, no. 2, pp. 62–69.

    Article  Google Scholar 

  7. Ammar Assad, Khalaf, W., Chouaib, I., Novel adaptive fuzzy extended Kalman filter for attitude estimation in GPS-denied environment, Gyroscopy and Navigation, 2019, vol. 10, no. 3, pp. 131−146.

    Article  Google Scholar 

  8. Ya Zhang, Fei Yu, Wei Gao, and Yanyan Wang, An improved strapdown inertial navigation system initial alignment algorithm for unmanned vehicles, Sensors, 2018, no. 18, pp. 1–20.

  9. Dmitriyev, S.E., Stepanov, O.A., and Shepel, S.V., Nonlinear filtering methods application in INS alignment, IEEE Transactions on Aerospace and Electronic Systems, 1997, vol. 33, no. 1, pp. 260–272.

    Article  Google Scholar 

  10. Anuchin, O.N. and Emel’yantsev, G.I., Integrirovannye sistemy orientatsii i navigatsii dlya morskikh podvizhnukh ob’’ektov (Integrated Navigation and Orientation Systems for Marine Vehicles), Peshekhonov, V.G., Ed., St. Petersburg, CSRI Elektropribor, 2003.

    Google Scholar 

  11. Taz’ba, A.M., Levi, Yu.V., and Ermolina, M.A., Structure of integrated navigation systems based on medium accuracy strapdown inertial systems, in Integrirovannye inertsial’no-sputnikovye sistemy navigatsii (Integrated Inertial Satellite Navigation Systems), Collected articles and papers, St. Petersburg, CSRI Elektropribor, 2001, pp. 115–127.

  12. Houzeng Han, Jian Wang, and Mingyi Du, A fast SINS initial alignment method based on RTS forward and backward resolution, Journal of Sensors, 2017, no. 4, pp. 1–12.

  13. Rahimi, H. and Nikkhah, A.A., Improving the speed of initial alignment for marine strapdown inertial navigation systems using heading control signal feedback in extended Kalman filter, International Journal of Advanced Robotic Systems, 2020, vol. 17, no. 1, pp. 1–11.

    Article  Google Scholar 

  14. Burak H. Kaygısız and Bekir Sen, In-motion alignment of a low-cost GPS/INS under large heading error, Journal of Navigation, 2015, vol. 68, no. 2, pp. 355–366.

    Article  Google Scholar 

  15. Andreev, A.G., Ermakov, V.S., and Mafter, M.B., Modified algorithm of MMINSS Kama-NS-V initial alignment, 27 th St. Petersburg International Conference on Integrated Navigation Systems, 2020.

  16. Ignat’ev, S.V., Stepanov, A.P., Vinokurov, I.Yu., and Zav’yalov, P.P., Synthesizing the control algorithm for modulation rotation of measurement unit within an inertial satellite system, Mekhatronika, Avtomatizatsiya, Upravlenie, 2012, no. 3, pp. 62–67.

  17. Emel’yantsev, G.I., Starosel’tsev, L.P., and Ignat’ev, S.V., On the rhumb drifts of strapdown FOG IMU, Giroskopiya i Navigatsiya, 2005, no. 1, pp. 22–29.

  18. Branetz, V.N. and Shmyglevskii, I.P., Vvedenie v teoriyu besplatformennykh inertsial’nykh navigatsionnykh sistem (Introduction to the Theory of Strapdown Inertial Navigation Systems), Moscow: Nauka, 1992.

  19. Stepanov, O.A., Primenenie teorii nelineinoi fil’tratsii v zadachakh obrabotki navigatsionnoi informatsii (Nonlinear Filtering Theory as Applied to Navigation Data Processing), St. Petersburg, CSRI Elektropribor, 2003.

  20. Rivkin, S.S., Teoriya giroskopicheskikh ustroistv. Chast’ 1 (The Theory of Gyroscopic Technology. Part 1), Sudpromgiz, 1962.

Download references

Funding

This work was financially supported by the Government of Russian Federation (Grant 08-08).

Author information

Authors and Affiliations

  1. Concern CSRI Elektropribor, JSC, St. Petersburg, Russia

    G. I. Emel’yantsev, A. P. Stepanov & B. A. Blazhnov

  2. ITMO University, St. Petersburg, Russia

    G. I. Emel’yantsev & A. P. Stepanov

Authors
  1. G. I. Emel’yantsev
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. A. P. Stepanov
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. B. A. Blazhnov
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to G. I. Emel’yantsev.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Emel’yantsev, G.I., Stepanov, A.P. & Blazhnov, B.A. Initial Alignment of Shipborne SINS under Ship Motion. Gyroscopy Navig. 11, 277–284 (2020). https://doi.org/10.1134/S2075108720040045

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1134/S2075108720040045

Keywords:

Search

Navigation