A Transfer Alignment Method considering a Data Latency Compensation for an Inertial Navigation System in High Dynamic Applications

고기동 환경에서 관성항법장치의 시간지연 보상 전달정렬 기법

  • Received : 2015.09.18
  • Accepted : 2015.10.22
  • Published : 2015.12.01


An improved transfer alignment method for a strap-down inertial navigation system (SDINS) is presented here. The alignment accuracy in conventional method is vulnerable to the data latency of a Master INS (MINS) in high maneuverable platforms. We propose a time delay compensation equation considering higher-order terms in the attitude measurement equation of the Kalman filter. The equation incorporates additional information including angular rate, angular acceleration and linear acceleration from the MINS. Simulation results show that the transfer alignment accuracy is significantly improved in the high dynamic environment by incorporating the latency compensation technique.


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