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Measurement : journal of the International Measurement Confederation, 2018-12, Vol.130, p.82-93
2018

Details

Autor(en) / Beteiligte
Titel
On the measurement selection for stationary SINS alignment Kalman filters
Ist Teil von
  • Measurement : journal of the International Measurement Confederation, 2018-12, Vol.130, p.82-93
Ort / Verlag
London: Elsevier Ltd
Erscheinungsjahr
2018
Link zum Volltext
Quelle
Elsevier ScienceDirect Journals Complete
Beschreibungen/Notizen
  • •Study of the measurement selection for stationary SINS alignment Kalman filters.•Proposition of an augmented measurement strategy using the ZVU/CERGU constraints.•Derivation of measurement models for the investigated constraints.•Earth rate and gravity measurements proved to be coupled to the alignment errors.•Analytical validation of the convergence rate superiority of the proposed strategy. This paper presents a comprehensive study aiming at the optimal measurement selection for Kalman filters applied to the stationary fine self-alignment of strapdown inertial navigation systems (SINS). On the basis of the definition of nonholonomic constraints, two very important measurement strategies for alignment purposes are investigated and mathematically derived: the standalone “zero velocity update” (ZVU) strategy, and an augmented measurement strategy, formed from the ZVU constraint in addition to the “constant Earth rate and gravity update” (CERGU) constraint. As main contribution of this paper, we analytically prove, trough the Cholesky factorization of the observability information matrix, that the augmented strategy is able to improve the convergence rate of the stationary fine self-alignment Kalman filter. For complying with the SINS rapidity requirement, the augmented measurement strategy is considered superior to the traditional standalone ZVU strategy. Simulated and experimental results confirm the adequacy of the outlined conclusions.

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