Work

In-Motion Alignment with MEMS-IMU Using Multilocal Linearization Detection

Year: 2025

Type: article

Abstract: In-motion alignment is a critical step in obtaining the initial state of an integrated navigation system. This article considers the in-motion initial alignment problem using the multilocal linearization detection method. In contrast to the OBA-based method, which fully relies on satellite signals to estimate the initial state of the Kalman filter, the proposed method utilizes the designed quasi-uniform quaternion generation method to estimate several possible initial states. Then, the proposed method selects the most probable result based on the generalized Schweppe likelihood ratios among multiple hypotheses. The experiment result of the proposed method demonstrates the advantage of estimation performance within poor-quality measurement conditions for the long-duration coarse alignment using MEMS-IMU compared with the OBA-based method. The proposed method has potential applications in alignment tasks for low-cost, small-scale vehicle navigation systems.

Source: Sensors

DOI: 10.3390/s25092645

Authors: Yulu Zhong, Xiyuan Chen, Ning Gao, Zhiyuan Jiao

Institution: Southeast University

Language: English

Topic: Inertial Sensor and Navigation

Subfield: Aerospace Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $3,137

Funders: Wuxi Science and Technology Association, National Natural Science Foundation of China, National Defense Pre-Research Foundation of China, Jiangsu Provincial Key Research and Development Program