An Adaptive Multi-Sample SINS Attitude Algorithm

The two-speed rotation vector-based attitude update in Strap-down Inertial Navigation System algorithm (SINS) performs well in cases of coning rotational motion. However, this method does not take full advantage of high frequency characteristic of the gyroscopes because the sample number is fixed. T...

Full description

Saved in:
Bibliographic Details
Published in2018 IEEE International Conference on Information and Automation (ICIA) pp. 888 - 892
Main Authors Bessaad, Nassim, Qilian, Bao, Yuding, Du, Lin, Liu
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.08.2018
Subjects
Online AccessGet full text

Cover

Loading…
More Information
Summary:The two-speed rotation vector-based attitude update in Strap-down Inertial Navigation System algorithm (SINS) performs well in cases of coning rotational motion. However, this method does not take full advantage of high frequency characteristic of the gyroscopes because the sample number is fixed. This work proposes an adaptive multi-sample rotation vector-based SINS attitude scheme by analyzing consecutive gyroscopes outputs and employing thresholds in order to detect and correct the non-commutativity error. Furthermore, an adaptive coefficients correction algorithm based on the angular rate is presented to account for the highly oscillating coning rotational motion error. Simulation results shows that the proposed algorithm achieves promising performance under severe coning rotation motion.
DOI:10.1109/ICInfA.2018.8812352