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1.发明授权公开(公告)号：US11512976B2
公开(公告)日：2022-11-29
申请号：US17236237
申请日：2021-04-21
Applicant: Harbin Institute of Technology
Inventor： Ya Zhang , Qian Sun , Wei Gao , Fei Yu , Yanyan Wang , Xiuwei Xia , Jianxiong Wei , Weiqi Miao
Abstract: The disclosure discloses a latitude-free initial alignment method under a swaying base based on gradient descent optimization. Firstly, swaying base latitude-free alignment is regarded as a Wahba attitude determination problem to inhibit device noise interference, and an objective function is established based on a gravitational acceleration vector under an earth system; then an exact solution of the objective function is obtained through a gradient descent optimization method, and inertial system conversion quaternion estimation is achieved under the latitude-free condition; and finally, an attitude quaternion is determined by only using information of an accelerometer and a gyroscope of a strapdown attitude heading reference system, and therefore latitude-free initial alignment under the swaying base is achieved. The disclosure can solve the problem that initial alignment cannot be accomplished with unknown latitude under the swaying base, and thus the application range of the strapdown attitude heading reference system is ensured.
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2.发明申请公开(公告)号：US20210262828A1
公开(公告)日：2021-08-26
申请号：US17236237
申请日：2021-04-21
Applicant: Harbin Institute of Technology
Inventor： Ya Zhang , Qian Sun , Wei Gao , Fei Yu , Yanyan Wang , Xiuwei Xia , Jianxiong Wei , Weiqi Miao
Abstract: The disclosure discloses a latitude-free initial alignment method under a swaying base based on gradient descent optimization. Firstly, swaying base latitude-free alignment is regarded as a Wahba attitude determination problem to inhibit device noise interference, and an objective function is established based on a gravitational acceleration vector under an earth system; then an exact solution of the objective function is obtained through a gradient descent optimization method, and inertial system conversion quaternion estimation is achieved under the latitude-free condition; and finally, an attitude quaternion is determined by only using information of an accelerometer and a gyroscope of a strapdown attitude heading reference system, and therefore latitude-free initial alignment under the swaying base is achieved. The disclosure can solve the problem that initial alignment cannot be accomplished with unknown latitude under the swaying base, and thus the application range of the strapdown attitude heading reference system is ensured.
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