Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Psi Angle Error Model based Alignment Algorithm for Strapdown Inertial Navigation System

Psi각 오차모델 기반 스트랩다운 관성 항법 시스템의 정렬 알고리즘

  • Received : 2010.02.23
  • Accepted : 2010.12.13
  • Published : 2011.02.01
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Abstract

An alignment algorithm for strapdown inertial navigation systems is proposed, in which the psi angle error model is utilized. The proposed alignment algorithm is derived from the Psi angle error model which has been widely used in real-time navigation systems. The equation for expecting steady state alignment error is also derived. The proposed algorithm was verified through real-time experiments. Experimental results show that the proposed algorithm can be used in the inertial navigation system and GNSS/INS integrated navigation system to get an initial attitude of the vehicle.

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References

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