SINS SelfAlignment Algorithm with Inertial Frame for Swaying Base Based on Quaternion

Abstract

Abstract: Abstract： To improve the rapidity and precision of initial alignment for strapdown inertial navigation system (SINS) under swaying base, the SINS selfalignment algorithm with inertial frame for the swaying base based on quaternion was presented, which used attitude update of inertial coordinates to reflect the gesture changes of the carrier under realtime shaking interference. The algorithm transformed the optimal estimation of the initial attitude into the Wahba problem to remove the angular interrupting by quaternion derivation, and used the wavelet denoising threshold to eliminate the linear vibration interrupting according to the different frequency characteristics of gravity vector in inertial reference frame and the disturbance. The simulation results show that the presented method can accomplish the alignment quickly and accurately under swaying base even in the presence of angular motion and linear vibration interference without the coarse alignment process.

Key words: Key words： strapdown inertial navigation system(SINS), initial alignment, quaternion, swaying base, wavelet denoising threshold

CLC Number:

U 666.1

XUE Haijian, GUO Xiaosong, ZHANG Dongfang, ZHOU Zhaofa. SINS SelfAlignment Algorithm with Inertial Frame for Swaying Base Based on Quaternion[J]. Journal of Shanghai Jiao Tong University, 2016, 50(03): 419-424.

References

［1］ALI J, USHAQ M. A consistent and robust Kalman filter design for inmotion alignment of inertial navigation system［J］. Measurement, 2009, 42(4): 577582. ［2］严恭敏，白亮，翁浚，等．基于频域分离算子的SINS抗晃动干扰初始对准算法［J］．宇航学报，2011, 32(7): 14861490. YAN Gongmin, BAI Liang, WENG Jun, et al. SINS antirocking disturbance initial alignment based on frequency domain isolation operator［J］. Journal of Astronautics, 2011, 32(7): 14861490. ［3］YECO F J. Error analysis of analytic coarse alignment methods［J］．IEEE Transactions on Aerospace and Electronic Systems, 1998, 34(1): 334337. ［4］柴卫华，沈晓蓉，张树侠．船用捷联惯导系统解析粗对准的误差分析［J］．哈尔滨工程大学学报, 1999, 20(4): 4650. CHAI Weihua, SHEN Xiaorong, ZHANG Shuxia. Error analysis of analytic rough alignment for marine SDINS［J］. Journal of Harbin Engineering University, 1999, 20(4): 4650. ［5］徐博，孙枫，高伟．舰船捷联航姿系统自主粗对准仿真与实验研究［J］. 兵工学报, 2008, 29(12): 14671473. XU Bo, SUN Feng, GAO Wei. The coarse alignment of strapdown inertial navigation system for ship［J］. Acta Armamentarii, 2008, 29(12):14671473. ［6］秦永元，严恭敏，顾冬晴，等．摇摆基座上基于信息的捷联惯导粗对准研究［J］．西北工业大学学报, 2005, 23(5):681684. QIN Yongyuan, YAN Gongmin, GU Dongqing, et al. A clever way of SINS coarse alignment despite rocking ship［J］. Journal of Northwestern Polytechnical University, 2005, 23(5): 681684. ［7］严恭敏，秦永元，卫育新，等. 一种适用于SINS动基座初始对准的新算法［J］. 系统工程与电子技术, 2009, 31(3):634637. YAN Gongmin, QIN Yongyuan, WEI Yuxin, et al. New initial alignment algorithm for SINS on moving base［J］. Systems Engineering and Electronics, 2009, 31(3):634637. ［8］赵长山，秦永元，魏亮. 抗干扰重力加速度积分粗对准算法［J］．宇航学报, 2010, 31(10):23352339. ZHAO Changshan, QIN Yongyuan, WEI Liang. A gravitybased antiinterference coarse alignment algorithm［J］. Journal of Astronautics, 2010, 31(10): 23352339. ［9］练军想，汤勇刚，吴美平，等．捷联惯导惯性系动基座对准算法研究［J］．国防科技大学学报, 2007, 29(5): 9599. LIAN Junxiang, TANG Yonggang, WU Meiping, et al. Study on SINS alignment algorithm with inertial frame for swaying bases［J］. Journal of National University of Defense Technology, 2007, 29(5):9599. ［10］孙枫，孙伟．摇摆基座下旋转捷联系统粗对准技术研究［J］．仪器仪表学报，2010, 31(4):929936. SUN Feng, SUN Wei. Research on coarse alignment of rotary SINS on a swing base［J］. Chinese Journal of Scientific Instrument, 2010, 31(4): 929936. ［11］孙枫，孙伟．基于数字滤波的系泊对准技术研究［J］．控制与决策，2010, 25(12):18701874. SUN Feng, SUN Wei. Research on mooring alignment with digital filter［J］. Control and Decision, 2010, 25(12): 18701874. ［12］王跃钢，杨家胜，杨波．纬度未知条件下捷联惯导系统晃动基座的初始对准［J］. 航空学报, 2012, 33(12): 23222329. WANG Yuegang, YANG Jiasheng, YANG Bo．SINS initial alignment of swaying base under geographic latitude uncertainty［J］. Acta Aeronautica et Astronautica Sinica, 2012, 33(12): 23222329. ［13］WAHBA G. A least squares estimate of spacecraft attitude ［J］. SIAM Review, 1965, 7(3): 409411. ［14］NADLER A, BARITZHACK I, WEISS H. On algorithms for attitude estimation using GPS［C］// Proceeding of the 39th IEEE Conference on Decision and Control, Sydney, 2000, 4: 33213326. ［15］WU M P, WU Y X, HU X P, et al. Optimizationbased alignment for inertial navigation systems: Theory and Algorithms ［J］. Aerospace Science and Technology, 2011, 15(1): 117. ［16］DONOHO D L. Denoising by softthresholding［J］. IEEE Transaction on Information Theory, 1995, 41(3): 613627. (上接第430页) ［13］LU J, UMEDA J, MA K. Predicting parametric rolling in irregular head seas with added resistance taken into account ［J］. Journal of Marine Science and Technology, 2011,16:462471. ［14］ZHOU Y H, MA N, SHI X, et al. Direct calculation method of roll damping based on three dimensional CFD approach ［J］. Journal of Hydrodynamics, 2015, 27(2):176186. ［15］MUNIF A, IKEDA Y, FUJIWARA T, et al. Contemporary ideas on ship stability and capsizing in waves ［M］. New York: Springer, 2011, 331345. ［16］RODRGUEZ C A, NEVES M A S. Parametric resonance in dynamical systems ［M］. New York: Springer, 2012: 107127.

[1]	GAO Honglian, YOU Jie, CAO Songyin. In-Flight Alignment Method of Integrated SINS/GPS Navigation System Based on Combined PF-UKF Filter [J]. Journal of Shanghai Jiao Tong University, 2022, 56(11): 1447-1452.
[2]	XUE Haijian1，WANG Jie1,2，GUO Xiaosong1，ZHOU Zhaofa1. Design of a Strong Tracing UKF for Nonlinear SelfAlignment of SINS [J]. Journal of Shanghai Jiaotong University, 2015, 49(09): 1429-1434.
[3]	ZHANG Ze, DUAN Guang-Ren, SUN Yong. Algorithm for Relative Position and Attitude of RVD Based on Dualquaternion [J]. Journal of Shanghai Jiaotong University, 2011, 45(03): 398-402.