An in-motion alignment method based on vehicle-carried RINS and GPS

Abstract

Abstract In order to realize the rapid start-up of a vehicle-carried inertial navigation system, this paper studies an in-motion alignment method based on an onboard rotating inertial navigation system (RINS) and GPS velocity information. Working with the rotation characteristics of the RINS, a Kalman filter model was established, that included the installation angles between gyros, the lever arm and the asynchronous time, by measuring the velocity difference between RINS and GPS. Multiple simulations and experimental verifications of the proposed in-motion alignment method have been carried out. The results show that the proposed in-motion alignment method can realize a rapid estimation of platform deflection angle, gyro installation errors, lever arm and the asynchronous time of RINS in the process of motion, which verifies the effectiveness of the proposed in-motion alignment method.