Improving the Performance of Alignment Processes of Inertial Measurement Units Utilizing Adaptive Pre-Filtering Methodology

Aboelmagd Noureldin, Eun-Hwan Shin and Naser El-Sheimy

Abstract:	The determination of the initial attitude angles of any inertial platform before starting its motion usually depends on Kalman filtering to provide fine alignment. The estimation accuracy of the attitude angles is limited by the relatively low signal to noise ratio (SNR) of the inertial sensors, especially for the gyroscopes. This article suggests the utilization of a finite impulse response (FIR) filter at the output of each inertial sensor to improve their SNR before using their measurement in estimating the initial attitude angle. The filter parameters are adapted to their optimal values using the least mean square (LMS) criterion with known Earth rotation rate and Earth gravity components as the reference signals. The traditional coarse and fine alignment procedures are then employed for the computation of the three attitude angles. The suggested pre-filtering method has shown a significant impact on the accuracy of alignment procedures of inertial measurement units, which is very essential in providing precise inertial positioning for different navigation applications.
Published in:	Proceedings of the 58th Annual Meeting of The Institute of Navigation and CIGTF 21st Guidance Test Symposium (2002) June 24 - 26, 2002 Hyatt Regency Hotel Albuquerque, NM
Pages:	63 - 69
Cite this article:	Noureldin, Aboelmagd, Shin, Eun-Hwan, El-Sheimy, Naser, "Improving the Performance of Alignment Processes of Inertial Measurement Units Utilizing Adaptive Pre-Filtering Methodology," Proceedings of the 58th Annual Meeting of The Institute of Navigation and CIGTF 21st Guidance Test Symposium (2002), Albuquerque, NM, June 2002, pp. 63-69.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In