Acta Geodaetica et Cartographica Sinica >

2018 , Vol. 47 >Issue 4: 473 - 479

DOI: https://doi.org/10.11947/j.AGCS.2018.20170316

Two-antenna GNSS Aided-INS Alignment Using Adaptive Control of Filter Noise Covariance

  • HAO Yushi ,
  • XU Aigong ,
  • SUI Xin ,
  • WANG Changqiang
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  • School of Geomatics, Liaoning Technical University, Fuxin 123000, China

Received date: 2017-06-25

  Revised date: 2017-12-10

  Online published: 2018-05-02

Supported by

The National Key Research and Development Program of China(No. 2016YFC0803102);The Program for Colleges and Universities Innovative Research Team of Liaoning Province(No. LT2015013);The State Key Laboratory University Cooperation Project(No. KX162600035)

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Abstract

This paper developed a theory of INS fine alignment in order to restrain the divergence of yaw angle,two antennas GNSS aided-INS integrated alignment algorithm was utilized.An attitude error measurement equation was conducted based on the relationship between baseline vectors calculated by two sensors and attitude error.The algorithm was executed by EKF using adaptive control of filter noise covariance.The experimental results showed that stability of the integrated system was improved under the system noise covariance adaptive control mechanism;The measurement noise covariance adaptive control mechanism can reduce the influence of measurement noise and improve the alignment absolute accuracy;Further improvement was achieved under the condition of minim bias of baseline length.The accuracy of roll and pitch was 0.02°,the accuracy of yaw was 0.04°.

Key words： two-antenna GNSS-SINS alignment; adaptive control of system noise; adaptive control of measurement noise; difference of baseline vector; attitude error

Cite this article

HAO Yushi , XU Aigong , SUI Xin , WANG Changqiang . Two-antenna GNSS Aided-INS Alignment Using Adaptive Control of Filter Noise Covariance[J]. Acta Geodaetica et Cartographica Sinica, 2018 , 47(4) : 473 -479 . DOI: 10.11947/j.AGCS.2018.20170316

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