In-Motion Coarse Alignment for SINS/USBL Based on USBL Relative Position

作者：Yongyun Zhu, Tao Zhang, Bingbo Cui, Xinhua Wei, Bonan Jin · 发表于：IEEE Transactions on Automation Science and Engineering · 年份：2024 · DOI：10.1109/tase.2024.3398018 · 被引用次数：17 · 研究领域：Advanced Vision and Imaging、Hand Gesture Recognition Systems、Gait Recognition and Analysis

The accuracy of initial attitude calculated from initial alignment has an important influence on the performance of SINS/USBL integrated navigation system. Currently, two main problems need to be overcome for SINS to complete the in-motion coarse alignment assisted by USBL system. 1) As SINS cannot obtain accurate initial attitude during the initial alignment phase, so USBL system can only provide the relative position in acoustic frame, but not the precise absolute position in navigation frame. 2) The outliers contained in the USBL raw data will seriously affect the performance of coarse alignment. In this paper, an in-motion coarse alignment method for SINS/USBL using the relative position of USBL is creatively proposed. Firstly, after constructing the apparent displacement vector from the relative position provided by USBL system and the output of IMU, an in-motion vector observation model is constructed. Secondly, the proposed method can suppress the influence of outliers in USBL raw data based on the advantages of displacement vector. Finally, the experimental results of the simulation and field tests show that the proposed method can not only complete the in-motion coarse alignment with favorable performance, but also effectively suppress the influence of the outliers in USBL data on the coarse alignment.Note to Practitioners—This paper was motivated by the problem of rapid in-motion coarse alignment for the SINS/USBL integrated navigation system in an underwater enviro...