The alignment and calibration of a low-precision slave inertial navigation system (SINS) aided with a high-precision master inertial navigation system (MINS) are two main targets of transfer alignment technique. To better solve the problems of the filtering-based method and the optimization-based method, a novel transfer alignment method aimed at alignment and sensor error calibration is proposed in this paper, which transforms the transfer alignment problem into a parameter estimation problem for the affine transformation model and provides a noniterative solution based on the inertial measurements of MINS and SINS. Two different simulations are designed for transfer alignment and the results demonstrate that the proposed method not only is independent on any prior information as compared with the filtering-based method but also can accurately estimate the relative attitude angles as well as the sensor errors of SINS.
Transfer Alignment Based on Affine Transformation Model with Noniterative Approach
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021
Proceedings of 2021 International Conference on Autonomous Unmanned Systems (ICAUS 2021) ; Chapter : 99 ; 1000-1012
2022-03-18
13 pages
Article/Chapter (Book)
Electronic Resource
English
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