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...
Saved in:
Published in | 2018 IEEE International Conference on Information and Automation (ICIA) pp. 888 - 892 |
---|---|
Main Authors | , , , |
Format | Conference Proceeding |
Language | English |
Published |
IEEE
01.08.2018
|
Subjects | |
Online Access | Get full text |
Cover
Loading…
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 |