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| SINS SelfAlignment Algorithm with Inertial Frame for Swaying Base Based on Quaternion |
| XUE Haijian，GUO Xiaosong，ZHANG Dongfang，ZHOU Zhaofa
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| (State Key Discipline Laboratory of Armament Launch Theory and Technology，
The Second Artillery Engineering University， Xi’an 710025， China) |
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Abstract Abstract： To improve the rapidity and precision of initial alignment for strapdown inertial navigation system (SINS) under swaying base, the SINS selfalignment 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 realtime 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 denoising 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.
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Received: 25 April 2015
Published: 28 March 2016
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