NDLI: Rapid initial alignment under geographic latitude uncertainty of a single rotation AHRS on stationary base

Content Provider	IEEE Xplore Digital Library
Author	Yu Huapeng Wu Wenqi Hao Ming
Copyright Year	2013
Description	Author affiliation: Coll. of Mechatron. & Autom., Nat. Univ. of Defense Technol., Changsha, China (Yu Huapeng; Wu Wenqi; Hao Ming)
Abstract	Principal analysis of state dynamic model in stationary alignment was done to formulate the practical problems when the model applied to the rotation modulation mechanization. In engineering applications, initial position error which affects alignment precision is inevitable. To improve attitude precision in alignment under geographic latitude uncertainty, a new dynamic measurement model of Kalman filter based on augmented measurement at turntable full rotation interval was introduced for a single rotation attitude and heading reference system (AHRS). Stationary alignment experiments were done on a postulate system utilizing rotation modulation mechanization to verify the effectiveness of the new dynamic measurement model. The experimental results show that the convergence rate of the new measurement model is sped and the estimation precision of the yaw angle and the geographic latitude are improved. The standard error of the yaw angle is 10" in 10 min, and geographic latitude uncertainty can be less than 300 meters in 10 min. Besides, estimation precision of the yaw angle will be little influenced when geographic latitude uncertainty is within 500 meters.
Sponsorship	IEEE Beijing Sect.
Starting Page	96
Ending Page	100
File Size	138096
Page Count	5
File Format	PDF
ISBN	9781479907571
e-ISBN	9781479907595
DOI	10.1109/ICEMI.2013.6743054
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-08-16
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Uncertainty Measurement uncertainty Estimation Kalman filter stationary base initial alignment single rotation Vehicle dynamics Observability Rotation measurement Convergence
Content Type	Text
Resource Type	Article

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