The conventional alignment method cannot be applied to the vehicle navigation due to the low performance of IMU, which causes the problem of large heading uncertain alignment. In this paper, two trigonometric functions of the heading uncertain angle are used as the quantity of state to establish the a new linear system equation. On the other hand, the coarse and fine alignment procedures are unified to avoid the covariance information loss during the switching from the coarse alignment to the fine alignment. The vehicle test results verified the heading error of the new alignment method can be lower than 1°.
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姜博文, 王可东.车载低精度INS/GPS大方位失准角线性对准研究[J].压电与声光,2017,39(3):387-391. JIANG Bowen, WANG Kedong. Study on the Linear Alignment of Large Heading Uncertain Alignment of Vehicle Low Precision INS/GPS[J]. PIEZOELECTRICS AND ACOUSTOOPTICS