Sensors | 卷:18 |
Polar Transversal Initial Alignment Algorithm for UUV with a Large Misalignment Angle | |
Honghan Zhang1  Zewen Yang2  Tongda Wang3  Zheping Yan4  Lu Wang4  | |
[1] Electrical Overall Design Department, The Fourth Academy of China Aerospace Science & | |
[2] Industry Corporation (CASIC), Beijing 100854, China; | |
[3] Beijing Mechanical & | |
[4] College of Automation, Harbin Engineering University, Harbin 150001, China; | |
关键词: Strapdown Inertial Navigation System; polar transversal navigation; initial alignment algorithm; large misalignment angle; simplified unscented Kalman filter; | |
DOI : 10.3390/s18103231 | |
来源: DOAJ |
【 摘 要 】
The conventional initial alignment algorithms are invalid in the polar region. This is caused by the rapid convergence of the Earth meridians in the high-latitude areas. However, the initial alignment algorithms are important for the accurate navigation of Unmanned Underwater Vehicles. The polar transversal initial alignment algorithm is proposed to overcome this problem. In the polar transversal initial alignment algorithm, the transversal geographic frame is chosen as the navigation frame. The polar region in the conventional frames is equivalent to the equatorial region in the transversal frames. Therefore, the polar transversal initial can be effectively applied in the polar region. According to the complex environment in the polar region, a large misalignment angle is considered in this paper. Based on the large misalignment angle condition, the non-linear dynamics models are established. In addition, the simplified unscented Kalman filter (UKF) is chosen to realize the data fusion. Two comparison simulations and an experiment are performed to verify the performance of the proposed algorithm. The simulation and experiment results indicate the validity of the proposed algorithm, especially when large misalignment angles occur.
【 授权许可】
Unknown