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Coarse alignment of marine strapdown inertial navigation system using the location of fitted parametric circle of gravity movement

Published online by Cambridge University Press:  05 March 2021

Hossein Rahimi Open the ORCID record for Hossein Rahimi [Opens in a new window]  and
Amir Ali Nikkhah Open the ORCID record for Amir Ali Nikkhah [Opens in a new window]
Hossein Rahimi
Affiliation:
K. N. Toosi University of Technology, Tehran, Iran
Amir Ali Nikkhah*
Affiliation:
K. N. Toosi University of Technology, Tehran, Iran
*
*Corresponding author. E-mail: nikkhah@kntu.ac.ir
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Abstract

This paper presents a novel estimation method for coarse alignment of a marine strapdown inertial navigation system (SINS) under mooring conditions. The properties of gravitational motion are used to improve the accuracy of coarse alignment. The parametric motion of gravitational apparent is a circle that is on the surface of a sphere. The location of this parametric circle is dependent on the definition of the reference frames and the initial angles of SINS. In the method proposed here the initial direct cosine matrix is calculated only from the location of the gravity motion parametric circle. The novelty of this paper is to provide a new method for estimating the gravity motion trajectory in inertial frame, as well as direct extraction of the initial direct cosine matrix from this estimated trajectory. Simulation and testing show that the proposed method is suitable for coarse alignment in mooring conditions.

Keywords

inertial navigation systemmooringmarine coarse alignmentgravity motionoptimisation
Type
Research Article
Information
The Journal of Navigation , Volume 74 , Issue 3 , May 2021 , pp. 574 - 593
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Copyright
Copyright © The Royal Institute of Navigation 2021

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