A Robust Self-Alignment Method for Ship's Strapdown INS Under Mooring Conditions

	A Robust Self-Alignment Method for Ship's Strapdown INS Under Mooring Conditions
	Sun, Feng; Lan, Haiyu; Yu, Chunyang; El-Sheimy, Naser; Zhou, Guangtao; Cao, Tong; Liu, Hang
刊名	SENSORS
	2013
卷号	13 期号:7 页码:8103-8139
关键词	inertial navigation systems (INS) alignment mooring condition inertial measurement unit (IMU) inertial frame hidden Markov model Kalman filter
ISSN号	1424-8220
通讯作者	Lan, HY (reprint author), Harbin Engn Univ, Marine Nav Res Inst, Coll Automat, Harbin 150001, Peoples R China.
英文摘要	Strapdown inertial navigation systems (INS) need an alignment process to determine the initial attitude matrix between the body frame and the navigation frame. The conventional alignment process is to compute the initial attitude matrix using the gravity and Earth rotational rate measurements. However, under mooring conditions, the inertial measurement unit (IMU) employed in a ship's strapdown INS often suffers from both the intrinsic sensor noise components and the external disturbance components caused by the motions of the sea waves and wind waves, so a rapid and precise alignment of a ship's strapdown INS without any auxiliary information is hard to achieve. A robust solution is given in this paper to solve this problem. The inertial frame based alignment method is utilized to adapt the mooring condition, most of the periodical low-frequency external disturbance components could be removed by the mathematical integration and averaging characteristic of this method. A novel prefilter named hidden Markov model based Kalman filter (HMM-KF) is proposed to remove the relatively high-frequency error components. Different from the digital filters, the HMM-KF barely cause time-delay problem. The turntable, mooring and sea experiments favorably validate the rapidness and accuracy of the proposed self-alignment method and the good de-noising performance of HMM-KF.
收录类别	SCI ; EI
语种	英语
内容类型	期刊论文
源URL	[http://ir.nssc.ac.cn/handle/122/5016]
专题	国家空间科学中心_空间技术部
推荐引用方式 GB/T 7714	Sun, Feng,Lan, Haiyu,Yu, Chunyang,et al. A Robust Self-Alignment Method for Ship's Strapdown INS Under Mooring Conditions[J]. SENSORS,2013,13(7):8103-8139.
APA	Sun, Feng.,Lan, Haiyu.,Yu, Chunyang.,El-Sheimy, Naser.,Zhou, Guangtao.,...&Liu, Hang.(2013).A Robust Self-Alignment Method for Ship's Strapdown INS Under Mooring Conditions.SENSORS,13(7),8103-8139.
MLA	Sun, Feng,et al."A Robust Self-Alignment Method for Ship's Strapdown INS Under Mooring Conditions".SENSORS 13.7(2013):8103-8139.