Journal of Astronautics ›› 2018, Vol. 39 ›› Issue (10): 1127-1133.doi: 10.3873/j.issn.1000-1328.2018.10.008

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Nonsingular Rapid Transfer Alignment for SINS at Random Misalignment Angles

CUI Xiao, QIN Yong yuan, YAN Gong min, ZHOU Qi   

  1. 1. School of Automation, Northwestern Polytechnical University, Xi’an 710129, China; 2. Xi’an Flight Automatic Control Research Institute, Xi’an 710065, China; 3. Science and Technology on Aircraft Control Laboratory, Xi’an 710065, China
  • Received:2017-11-15 Revised:2018-04-02 Online:2018-10-15 Published:2018-10-25


 Aiming at the problem of strapdown inertial navigation system (SINS) initial alignment, a linear matrix filter-based transfer alignment algorithm is proposed. Firstly, based on the attitude matrix description without making any assumption on misalignment angle, the alignment problem is transformed into the linear filter problem of the relative attitude between the master INS and slave INS. Then, a matrix Kalman filter is implemented for the estimation of the relative attitude matrix at random misalignment angles and without initial value. Furthermore, a constrained matrix Kalman filter is developed which enforces the property of the orthogonality on the attitude matrix estimate. The Monte-Carlo simulations show that the proposed algorithm can accomplish the alignment at random misalignment angles and exhibits a better transient and a better steady-state accuracy than the traditional algorithm. Under the sway maneuver, the horizontal and heading precisions are within 0.02° and 0.03° in 10 s respectively.

Key words: Transfer alignment, Misalignment angle, Orthogonality constraint, Matrix Kalman filter

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