NDLI: Initial alignment of large misalignment angle in strapdown inertial navigation system based on Gaussian process regression

Content Provider	IEEE Xplore Digital Library
Author	Zhao Xi-jing Wang Li-xin He Zhi-kun Zhang Bo Zhao Han
Copyright Year	2014
Description	Author affiliation: Xi'an Res. Inst. of Hi-Tech, Xi'an, China (Zhao Xi-jing; Wang Li-xin; He Zhi-kun; Zhang Bo; Zhao Han)
Abstract	Due to the large misalignment angle, the error model of a strapdown inertial navigation system (SINS) is nonlinear. To solve the problem of the model inaccurateness and the influences on alignment accuracy caused by the linearization of the nonlinear model, the nonlinear model for initial alignment of large misalignment angle in SINS is established. To improve the accuracy of the initial alignment under the nonlinear error model, Gaussian process regression (GPR) method is applied in the initial alignment of SINS and a novel initial alignment algorithm for large misalignment angle based on GPR is proposed. The algorithm uses the square-root cubature Kalman filter (SRCKF) to simulate training data for GPR. The measurements of SRCKF are set as the training input and the SRCKF estimated outputs of misalignment angles are set as the training output. To identify the misalignment angles of SINS, GPR is used to learning the nonlinear mapping relationship between inputs and outputs of training data. Simulation results verify the validity and feasibility of the novel algorithm in initial alignment.
Starting Page	3114
Ending Page	3118
File Size	304392
Page Count	5
File Format	PDF
ISBN	9781479937073
e-ISBN	9781479937080
DOI	10.1109/CCDC.2014.6852710
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Silicon compounds Strapdown inertial navigation system Ground penetrating radar Gaussian processes Inertial navigation Error model Gaussian process regression nonlinear alignment Large misalignment angle Electronic mail Kalman filters Mathematical model
Content Type	Text
Resource Type	Article

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