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Chinese Journal of Lasers, Volume. 45, Issue 12, 1201007(2018)

Observability Analysis of Vehicle-Based-Laser Strapdown Inertial Navigation System Initial Alignment

Kang Gao1、*, Shunqing Ren1、*, Xijun Chen1, Zhenhuan Wang1, and Wei Li2
Author Affiliations
  • 1 Space Control and Inertial Technology Research Center, Harbin Institute of Technology, Harbin, Heilongjiang 150080, China
  • 2 School of Automation, Harbin University of Science and Technology, Harbin, Heilongjiang 150080, China
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    AbstractGet PDF(in Chinese)
    Figures&Tables (11)
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    Figures & Tables(11)
    Installation diagram

    Fig. 1. Installation diagram

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    Simulation trajectory

    Fig. 2. Simulation trajectory

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    Simulation velocity

    Fig. 3. Simulation velocity

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    Outputs of gyroscopes

    Fig. 4. Outputs of gyroscopes

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    Estimate of odometer scale factor

    Fig. 5. Estimate of odometer scale factor

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    Estimate of SINS misalignment angle

    Fig. 6. Estimate of SINS misalignment angle

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    Estimate of lever arm

    Fig. 7. Estimate of lever arm

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    Estimate error of attitude error

    Fig. 8. Estimate error of attitude error

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    Estimate of accelerometer bias

    Fig. 9. Estimate of accelerometer bias

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    Estimate of gyro drift

    Fig. 10. Estimate of gyro drift

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    • Table 1. Simulation value of system states

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      Table 1. Simulation value of system states

      System stateSimulation value
      Gyroscopic drift /[(°)/h]0.02
      Accelerometer bias /μg100
      Odometer scale factor error0.002
      Sample rate /Hz100
      SINS misalignment angle /(')[20 10 30]T
      Odometer lever arm /m[2 5 -0.5]T
      Initial attitude error /(°)[1 1 10]T
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    Kang Gao, Shunqing Ren, Xijun Chen, Zhenhuan Wang, Wei Li. Observability Analysis of Vehicle-Based-Laser Strapdown Inertial Navigation System Initial Alignment[J]. Chinese Journal of Lasers, 2018, 45(12): 1201007

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    Paper Information

    Category: laser devices and laser physics

    Received: Jul. 24, 2018

    Accepted: Aug. 23, 2018

    Published Online: May. 9, 2019

    The Author Email:

    DOI:10.3788/CJL201845.1201007

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology