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http://dx.doi.org/10.5139/JKSAS.2017.45.6.463

SDINS Closed Loop Self-Alignment Algorithm using Pseudo Initial Position  

Kim, Taewon (Agency for Defense Development)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.45, no.6, 2017 , pp. 463-472 More about this Journal
Abstract
Inertial Navigation System Alignment is the process to determine direction cosine matrix which is the transformation matrix between the INS body frame and navigation frame. INS initial position value is necessary to INS attitude calculation, so that user should wait until he get such value to start the INS alignment. To remove the waiting time, we propose an alignment algorithm that immediately starts after the INS power on by using pseudo initial position input and then is completed with attitude error compensation by entering true position later. We analyse effect of INS sensor error on attitude in process of time and verify the performance and usefulness of the close-loop alignment algorithm which corrects attitude error from the change of initial position.
Keywords
Alignment; SDINS; Pseudo position; Inertial Navigation System;
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