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Mathematical Problems in Engineering
Volume 2015, Article ID 320536, 12 pages
Research Article

Initial Self-Alignment for Marine Rotary SINS Using Novel Adaptive Kalman Filter

Fujun Pei,1,2 Li Zhu,1,2 and Jian Zhao1,2

1School of Electronic Information & Control Engineering, Beijing University of Technology, Beijing 100124, China
2Beijing Key Laboratory of Computational Intelligence and Intelligent System, Beijing 100124, China

Received 24 January 2015; Accepted 15 April 2015

Academic Editor: Oscar Reinoso

Copyright © 2015 Fujun Pei et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The accurate initial attitude is essential to affect the navigation result of Rotary Strapdown Inertial Navigation System (SINS), which is usually calculated by initial alignment. But marine mooring Rotary SINS has to withstand dynamic disturbance, such as the interference angular velocities and accelerations caused by surge and sway. In order to overcome the limit of dynamic disturbance under the marine mooring condition, an alignment method using novel adaptive Kalman filter for marine mooring Rotary SINS is developed in this paper. This alignment method using the gravity in the inertial frame as a reference is discussed to deal with the lineal and angular disturbances. Secondly, the system error model for fine alignment in the inertial frame as a reference is established. Thirdly, PWCS and SVD are used to analyze the observability of the system error model for fine alignment. Finally, a novel adaptive Kalman filter with measurement residual to estimate measurement noise variance is designed. The simulation results demonstrate that the proposed method can achieve better accuracy and stability for marine Rotary SINS.