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A robust and fast self-alignment method for strapdown inertial navigation system in rough sea conditions

机译：恶劣海况下捷联惯性导航系统的鲁棒快速自对准方法

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摘要

In this paper, a robust and fast self-alignment method under an undesirable non-periodic unidirectional vessel motion is proposed. The proposed method is based on the attitude determination technique which transforms the alignment procedure into an attitude determination problem by creating infinite vector observations. The method implements the QUaternion ESTimator (QUEST) attitude determination technique which reduces the computational complexity in practical implementations and accomplishes the alignment task more robustly and accurately compared with the Kalman filter based alignment methods in a specific time interval. Simulation and also experimental results show that the proposed technique has more accurate and faster responses compared to the conventional methods based on the Kalman filter.
机译：本文提出了一种不期望的非周期性单向血管运动下的鲁棒快速自对准方法。所提出的方法基于姿态确定技术，该技术通过创建无限矢量观测值将对齐过程转换为姿态确定问题。该方法实现了四元数估计器（QUEST）姿态确定技术，与基于Kalman滤波器的对准方法相比，在特定时间间隔内，它可以降低实际实现中的计算复杂度，并且更加稳健，准确地完成对准任务。仿真和实验结果表明，与基于卡尔曼滤波器的传统方法相比，该技术具有更快，更准确的响应。

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