{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,9,13]],"date-time":"2025-09-13T16:44:17Z","timestamp":1757781857505},"reference-count":14,"publisher":"SAGE Publications","issue":"9","license":[{"start":{"date-parts":[[2017,9,1]],"date-time":"2017-09-01T00:00:00Z","timestamp":1504224000000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["International Journal of Distributed Sensor Networks"],"published-print":{"date-parts":[[2017,9]]},"abstract":"<jats:p> Inertial navigation system needs to be initialized through the alignment process, before the transition into the navigation stage can be made. In this article, a robust cascaded strategy of alignment which aims to provide an automatic operating alignment strategy for different application scenarios is proposed. The robust cascaded strategy of alignment utilizes the advantages of several alignment methods to form a cascaded alignment strategy. As a result, the robust cascaded strategy of alignment can be utilized in applications with different grade inertial measurement units under complex dynamic condition. In addition, several control measures are added into the robust cascaded strategy of alignment process to increase its robustness and to ensure that acceptable performance may be attained. A filed test using two inertial measurement units (tactical-grade FSAS and micro-electro-mechanical-system-grade SBG) shows that the proposed robust cascaded strategy of alignment can achieve alignment under various dynamic conditions, such as low speed motion, turns, stationary positions, and straight motion. The mean heading error and level angle error are 0.10\u00b0 and \u22120.08\u00b0 for the FSAS, respectively, and \u22120.44\u00b0 and \u22120.02\u00b0 for the SBG, respectively. The root mean square of the heading error and level angle error for the FSAS are 2.08\u00b0 and 0.50\u00b0, respectively, while those for the SBG are 2.95\u00b0 and 1.44\u00b0, respectively. <\/jats:p>","DOI":"10.1177\/1550147717732919","type":"journal-article","created":{"date-parts":[[2017,9,28]],"date-time":"2017-09-28T12:24:54Z","timestamp":1506601494000},"page":"155014771773291","update-policy":"http:\/\/dx.doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":7,"title":["A robust cascaded strategy of in-motion alignment for inertial navigation systems"],"prefix":"10.1177","volume":"13","author":[{"given":"Wanke","family":"Liu","sequence":"first","affiliation":[{"name":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China"},{"name":"Collaborative Innovation Center of Geospatial Technology, Wuhan, China"},{"name":"Key Laboratory of Geospace Environment and Geodesy, Ministry of Education, Wuhan University, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rui","family":"Duan","sequence":"additional","affiliation":[{"name":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Feng","family":"Zhu","sequence":"additional","affiliation":[{"name":"School of Geodesy and Geomatics, Wuhan University, Wuhan, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2017,9,28]]},"reference":[{"key":"bibr1-1550147717732919","doi-asserted-by":"publisher","DOI":"10.1049\/PBRA017E"},{"key":"bibr2-1550147717732919","volume-title":"Principles of GNSS, inertial, and multisensor integrated navigation systems","author":"Groves P","year":"2013"},{"key":"bibr3-1550147717732919","unstructured":"Shin EH. Estimation techniques for low-cost inertial navigation. PhD Thesis, University of Calgary, Calgary, AB, Canada, 2005."},{"key":"bibr4-1550147717732919","doi-asserted-by":"publisher","DOI":"10.1179\/003962610X12747001420348"},{"key":"bibr5-1550147717732919","volume-title":"Proceedings of the IEEE\/ION position, location and navigation symposium","author":"Hu J"},{"key":"bibr6-1550147717732919","doi-asserted-by":"publisher","DOI":"10.1017\/S0373463310000214"},{"key":"bibr7-1550147717732919","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2008.10.002"},{"key":"bibr8-1550147717732919","doi-asserted-by":"publisher","DOI":"10.1155\/2014\/593692"},{"key":"bibr9-1550147717732919","first-page":"577","author":"Liu B","year":"2016","journal-title":"J Chin Inert Technol"},{"key":"bibr10-1550147717732919","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2013.04.058"},{"key":"bibr12-1550147717732919","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2010.05.004"},{"key":"bibr13-1550147717732919","doi-asserted-by":"publisher","DOI":"10.1109\/TAES.2013.6494395"},{"key":"bibr14-1550147717732919","first-page":"42","volume-title":"Proceedings of the 9th world congress on intelligent control and automation","author":"Zhao H"},{"key":"bibr15-1550147717732919","unstructured":"Shin EH. Accuracy improvement of low cost INS\/GPS for land applications. 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