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Performance improvement of in-flight alignment for autonomous vehicle under large initial heading error

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3 Author(s)
H. S. Hong ; Samsung Electron. Co., South Korea ; J. G. Lee ; C. G. Park

The paper presents a new method of in-flight alignment (IFA) for a strapdown inertial navigation system (SDINS) aided by a super short baseline (SSBL) system under a large initial heading error. To handle the large heading error, a new attitude error model is introduced in which attitude errors are divided into heading and levelling errors using a newly defined horizontal frame. Some navigation error dynamic models are derived from the attitude error model for indirect feedback filtering of the IFA system. A Kalman filter with position measurements is designed to estimate navigation errors as an indirect feedback filter. Simulation results show that the newly developed model works effectively for coarse alignment of a large heading error. The proposed IFA method very quickly decreases the heading error from more than 40° to about 5°.

Published in:

IEE Proceedings - Radar, Sonar and Navigation  (Volume:151 ,  Issue: 1 )