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Lecture 4th Navigation 8

The document discusses inertial navigation system alignment. It explains that alignment is the process of determining the inertial navigation system's initial attitude coordinates with respect to a reference coordinate system. There are two steps to alignment: coarse alignment and fine alignment. Coarse alignment provides an initial condition for fine alignment using sensor measurements to reduce misalignment angles. The document also discusses different sensor types that can be used for alignment, including star sensors and GNSS integration with inertial sensors.

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Ahmed Wasif
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© © All Rights Reserved
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32 views

Lecture 4th Navigation 8

The document discusses inertial navigation system alignment. It explains that alignment is the process of determining the inertial navigation system's initial attitude coordinates with respect to a reference coordinate system. There are two steps to alignment: coarse alignment and fine alignment. Coarse alignment provides an initial condition for fine alignment using sensor measurements to reduce misalignment angles. The document also discusses different sensor types that can be used for alignment, including star sensors and GNSS integration with inertial sensors.

Uploaded by

Ahmed Wasif
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Electromechanical Engineering Dept.

Navigation Instruments Design


Fourth Class /Navigation /lecture8 Dr.Ekbal H. A. 2022

Alignment Inertial Navigation System


The navigation device needs to know its initial position, velocity and
attitude information before entering the working condition. It is easy to
know the initial position and velocity information, but the initial attitude
information needs to be aligned. The so-called alignment refers to the
process of determining the coordinates of the inertial navigation system
with respect to the reference coordinate system.as shown below

Fig. Initial attitude information


The strapdown inertial navigation system (INS) necessitates an alignment
stage to determine the initial condition before the navigation operation.
Alignment is vitally important, because the performance of an INS is
largely decided by the accuracy and rapidness of the alignment process.
We care most about the initial body attitude during the alignment,
because other initial conditions such as position and velocity are
relatively easy to determine
The basic idea of initial alignment is that by processing the measured
values of accelerometers and gyroscopes as in figure , the corrected
angular velocity is generated for the updating calculation of the strap
down matrix, and the misalignment angle is reduced to zero as much as
possible.

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Electromechanical Engineering Dept. Navigation Instruments Design
Fourth Class /Navigation /lecture8 Dr.Ekbal H. A. 2022

. At the same time, the swing angular velocity of the carrier is calculated
by measuring the output of the gyroscope, and the swing angular velocity
of the carrier is separated.

Fig2 . Estimated reference with reference frame in accelerometer

Fig3 . Estimated reference with reference frame in gyroscope


The alignment process normally consists of two consecutive steps:
coarse alignment and fine alignment

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Electromechanical Engineering Dept. Navigation Instruments Design
Fourth Class /Navigation /lecture8 Dr.Ekbal H. A. 2022

1-Coarse alignment of SINS (Strapdown Inertial Navigation System)


Normally, SINS initial alignment process is divided into two phases, i.e.,
coarse alignment and fine alignment. The purpose of coarse alignment is
to provide a fairly good initial condition for the fine alignment
processing. For SINS stationary alignment, the carrier is fixed to the
Earth

where g and ωie represent the magnitude of gravity and Earth rate,
respectively,ϕ is the local geographical latitude. For the SINS, the
accelerometer and gyro output can be expressed respectively as

3
Electromechanical Engineering Dept. Navigation Instruments Design
Fourth Class /Navigation /lecture8 Dr.Ekbal H. A. 2022

Equation (8) shows that the output of the accelerometers and gyros of a
stationary SINS can be used to determine the attitude matrix directly.
2-Fine alignment
Coarse alignment is based on an idealization in which there are no
accelerometer and gyro errors. But both accelerometers and gyros output
data have errors in reality, especially the gyros may have large rate
biases. So the attitude matrix given by coarse alignment may have

The types alignment with output sensor


1-The star sensor can provide high-accurate attitude matrix with respect
to inertial frame continuously with arc second attitude accuracy and it can
be considered as a gyroscope with no drift. The stars offer an infinity of

4
Electromechanical Engineering Dept. Navigation Instruments Design
Fourth Class /Navigation /lecture8 Dr.Ekbal H. A. 2022

highly stable reference directions and the star sensor becomes an autonomous system.
With the development and advantages of the star sensor, it is rapidly introduced to
assist the INS for navigation, positioning and mitigating the cumulative error . The
integrated system plays an important role in military fields. The star sensor is also
used to assist the initial alignment process. In , the coarse alignment result is obtained
by the attitude matrix provided by the star sensor and the accelerometer measurement.
However, only attitude estimation is given. Besides, the existing calibration,
alignment and positioning of the integration of INS and star sensor at deep level data
fusion is achieved through complex Kalman filter calculations.

Fig. Star sensor integration with SINS


2- GNSS with SINS
which uses MEMS gyroscopes, accelerometers and dual-antenna satellite receivers to
achieve fast alignment under MEMS SINS/GNSS. Based on the analysis of traditional
coordinates and strapdown inertial navigation, the dynamic error model is given.

Fig. Integration GNSS with SINS

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