| Issue |
MATEC Web Conf.
Volume 198, 2018
2018 Asia Conference on Mechanical Engineering and Aerospace Engineering (MEAE 2018)
|
|
|---|---|---|
| Article Number | 02007 | |
| Number of page(s) | 5 | |
| Section | Mechanical Engineering | |
| DOI | https://doi.org/10.1051/matecconf/201819802007 | |
| Published online | 12 September 2018 | |
An Improved Method of Geomagnetic Aided Inertial Navigation Algorithm with Gyro and Accelerometer Error Corrected Online
1
Faculty of Automation and Information Engineering, Xi’an University of Technology, Xi’an, China
2
Xi’an research inst of hi-tech, Xi’an, China
In consideration of the problem that traditional geomagnetic aided navigation method cannot reduce the scaling error of indication track in inertial navigation system (INS), which will further limit the error correction precision of gyro and accelerometer, an improved geomagnetic matching algorithm based on affine transformation is proposed in this paper. A geomagnetic matching algorithm led to the optimal affine transformation solution by Procrustes analysis is presented and develops latitude and longitude reference information. Then a 13-dimensional-state extended Kalman filter which estimates the attitude misalignment angles, the position error, the velocity error, the Gyro drift, and accelerometer error is introduced to continuously update the output of INS and remove the accumulative error. The results show that geomagnetic aided navigation based on improved algorithm has better location accuracy and correction accuracy of INS than the traditional method.
© The Authors, published by EDP Sciences, 2018
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