제어로봇시스템학회:학술대회논문집
- 1996.10b
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- Pages.856-859
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- 1996
An initial coarse alignment algorithm for strapdown inertial navigation system
스트랩다운 관성항법시스템의 초기 개략정렬 알고리즘
Abstract
In this paper, a coarse alignment algorithm for strapdown inertial navigation system is proposed and evaluated analytically. The algorithm computes roll and pitch angles of the vehicle using accelerometer outputs, and then determines yaw angle with gyro outputs. It is referred, as two-step coarse alignment in this work. With the geometric relation between sensor outputs and roll, pitch and yaw angles, the algorithm error is analytically derived and compared with the previous coarse alignment algorithm introduced by Britting. The results show that the proposed two-step coarse alignment algorithm has better performance for pitch angle computation.
Keywords
- strapdown inertial navigation system;
- a SDINS;
- a initial coarse alignment;
- a accelerometer;
- a gyro;
- a euler angle