Coarse Alignment of Marine Strapdown INS Based on the Trajectory Fitting of Gravity Movement in the Inertial Space

Abstract

A ship experiences the random motion of sea waves during its travels. Hence, the coarse alignment of the marine strapdown Inertial Navigation System (INS) suffers from rocking disturbances such as pitch and roll. In this paper, a novel approach of marine coarse alignment was proposed for avoiding the resulting loss of accuracy from rocking disturbances. Unlike several current techniques, our alignment scheme is intuitional and concise. Moreover, the coarse alignment can be implemented without any external information. The gravity vector and its derivative expressed within the inertial frame can describe the attitude matrix between an inertial frame and the local geographic frame. We address the challenge of calculating the gravity derivative by the least-squares fitting of the trajectory of the gravity movement in the inertial frame. Meanwhile, the integration of angular rates measured by gyroscopes allows one to compute the attitude matrix between the inertial frame and the body frame. The coarse alignment can be thus accomplished by the combination of the above two attitude matrices. The experimental results show that the coarse alignment is effective with high accuracy and stability for demanding marine applications.

Keywords

• coarse alignment
• Inertial Navigation System (INS)
• gravity vector
• inertial frame
• marine applications
• least-squares fitting of spatial circle