Non-Linear Least Squares Large Misalignment Estimation in Transfer Alignment

Abstract:

Large misalignment is unavoidable for subsystems which could be deployed randomly on the carriers such as shipborne aircrafts, AUV. Ordinary linear filtering algorithms don’t converge fast and accurately in non-linear conditions. It's critical for the accuracy of the transfer alignment. In this paper, a new misalignment and gyroscope bias online estimation method based on angular velocity processing is presented. Sensor measurements of M-SINS and S-SINS will be recorded for a certain period. Misalignment and the gyroscope bias will be calculated from these measurements directly with non-linear least square algorithm. Trust region method with pre-conditioning, subspace and conjugate gradient are applied for faster converge and better accuracy. Simulation results demonstrate the effectiveness of the algorithm.

• Periodical: Advanced Materials Research (Volumes 989-994)
• Pages: 1962-1968
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.989-994.1962
• Online since: July 2014
• Authors: Yuan Lu*, Xiang Hong Cheng
• Keywords: Estimation, Least Square (LS), Lever Arm, Misalignment, Statistic, Transfer Alignment

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