Sensors (Jun 2022)

An Anti-Turbulence Self-Alignment Method for SINS under Unknown Latitude Conditions

  • Yubing Jiao,
  • Jie Li,
  • Xihong Ma,
  • Kaiqiang Feng,
  • Xiaoting Guo,
  • Xiaokai Wei,
  • Yujun Feng,
  • Chenming Zhang,
  • Jingqi Wang

DOI
https://doi.org/10.3390/s22134686
Journal volume & issue
Vol. 22, no. 13
p. 4686

Abstract

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For the alignment problem of strapdown inertial navigation system (SINS) under the complex environment of unknown latitude, angular oscillation interference, and line interference, the ant colony simulated annealing algorithm of gravity vector optimization is proposed to obtain the gravity apparent motion vector optimization equation, and the polynomial fitting method is proposed to simultaneously perform latitude estimation and self-alignment in combination with the alignment principle of SINS. Simulations and experiments show that the proposed method has more robust anti-interference capability than the traditional interference-based alignment method, the latitude estimation accuracy is improved by six times, the self-alignment yaw angle error RMSE value after obtaining the latitude is within 0.7°, and the roll angle and pitch angle error values are within 0.1°.

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