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http://dx.doi.org/10.12673/jant.2022.26.4.235

An Analysis of the Attitude Estimation Errors Caused by the Deflection of Vertical in the Initial Alignment  

Kim, Hyun-seok (Agency for Defense Development)
Park, Chan-sik (Dept. of Intelligent Systems and Robotics, Research Institute for Computer and Information Communication, Chungbuk Natioinal University)
Publication Information
Journal of Advanced Navigation Technology / v.26, no.4, 2022 , pp. 235-243 More about this Journal
Abstract
In this paper, in the case of an inertial navigation system, the posture estimation error in the initial alignment due to vertical deflection is analyzed. Posture estimation error due to DOV was theoretically analyzed based on the speed and posture error of INS. Simulations were performed to verify the theoretical grinding, and the results were in good agreement. For example, in the case of η=20", an alignment error of ϕN=0.00287°, ϕU=0.00196° occurred, and in the case of 𝜉=20", an error of ϕE= -0.00286° occurred. Through this, it was confirmed that the vertical posture error caused by the DOV occurred as a coupling characteristic of the INS posture error. It has been shown that an additional posture error may occur due to the DOV, which was not considered in the existing INS alignment, which means that correction for the DOV must be considered when applying high-precision INS.
Keywords
Inertial Navigation system; Initial Alignment; Deflection of Vertical; Attitude Error; Horizontal Gravity Disturbance;
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