Abstract
According to the requirement of dynamic coarse alignment of moving base, a new inertial navigation coarse alignment algorithm assisted by satellite velocity information is presented. A simplified alignment model of linearized Kalman filter with large azimuth misalignment is obtained by adjusting the inertial solution scheme and de-fining a new form of velocity error model. The offline simulation results of the actual test flight verify the effectiveness of the method. The horizontal attitude error of coarse alignment in 120s is no more than 2°, and the heading error is no more than 5°, which can meet the initial hypothesis requirements of the subsequent fine alignment filter for the small-angle linearization model.
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Cheng, GD., Yang, GL., Xia, JH., Shang, Y., Li, S. (2022). A New GNSS Aided Strapdown INS Dynamic Coarse Alignment Algorithm. In: Proceedings of the 5th China Aeronautical Science and Technology Conference. Lecture Notes in Electrical Engineering, vol 821. Springer, Singapore. https://doi.org/10.1007/978-981-16-7423-5_97
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DOI: https://doi.org/10.1007/978-981-16-7423-5_97
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