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Velocity/Position Integration Formula Part I: Application to In-Flight Coarse Alignment

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2 Author(s)
Yuanxin Wu ; Sch. of Aeronaut. & Astronaut., Central South Univ., Changsha, China ; Xianfei Pan

The in-flight alignment is a critical stage for airborne inertial navigation system/Global Positioning System (INS/GPS) applications. The alignment task is usually carried out by the Kalman filtering technique that necessitates a good initial attitude to obtain a satisfying performance. Due to the airborne dynamics, the in-flight alignment is much more difficult than the alignment on the ground. An optimization-based coarse alignment approach that uses GPS position/velocity as input, founded on the newly-derived velocity/position integration formulae is proposed. Simulation and flight test results show that, with the GPS lever arm well handled, it is potentially able to yield the initial heading up to 1 deg accuracy in 10 s. It can serve as a nice coarse in-flight alignment without any prior attitude information for the subsequent fine Kalman alignment. The approach can also be applied to other applications that require aligning the INS on the run.

Published in:

Aerospace and Electronic Systems, IEEE Transactions on  (Volume:49 ,  Issue: 2 )