{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T03:49:24Z","timestamp":1760240964163,"version":"build-2065373602"},"reference-count":33,"publisher":"MDPI AG","issue":"20","license":[{"start":{"date-parts":[[2019,10,21]],"date-time":"2019-10-21T00:00:00Z","timestamp":1571616000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper derives an improved multistage in-motion attitude determination alignment (IMADA) for strapdown inertial navigation system, which integrates the traditional IMADA and the designed dual velocity-modeling IMADA, as well as the multiple repeated alignment process, to address the principled model errors and the calculation errors of traditional      V b     -aided IMADA. With the proposed algorithm, not only the designed drawbacks of traditional      V b     -based IMADA can be solved, but also the degradation phenomenon of high-level alignment for multistage IMADA would be largely less. Moreover, the degradation of the alignment accuracy with the vehicle velocity is also removed. Finally, the 30 groups of car-mounted experiments and the Monte Carlo simulation experiments with the navigation-grade SINS are carried out to demonstrate the validity of the proposed algorithm. The results show that the number of the heading degradation of the second-level alignment is reduced to 10 as compared the traditional number 20. Moreover, the alignment accuracy of heading is improved by 23%. Even with the different speeds of 20 m\/s, 60 m\/s, 80 m\/s, the heading alignment accuracies are 1.3063\u00b0, 1.3102\u00b0, 1.3564\u00b0 and are still almost the same.<\/jats:p>","DOI":"10.3390\/s19204568","type":"journal-article","created":{"date-parts":[[2019,10,21]],"date-time":"2019-10-21T03:40:29Z","timestamp":1571629229000},"page":"4568","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Improved Multistage In-Motion Attitude Determination Alignment Method for Strapdown Inertial Navigation System"],"prefix":"10.3390","volume":"19","author":[{"given":"Haiyan","family":"Qiao","sequence":"first","affiliation":[{"name":"College of Automation, Harbin Engineering University, Harbin 150001, China"},{"name":"Hebei Hanguang Industry Co., Ltd., Handan 056000, China"}]},{"given":"Meng","family":"Liu","sequence":"additional","affiliation":[{"name":"College of Automation, Harbin Engineering University, Harbin 150001, China"},{"name":"Tianjin Navigation Instrument Research Institute, Tianjin 300131, China"}]},{"given":"Hao","family":"Meng","sequence":"additional","affiliation":[{"name":"College of Automation, Harbin Engineering University, Harbin 150001, China"}]},{"given":"Mengjun","family":"Wang","sequence":"additional","affiliation":[{"name":"Hebei Hanguang Industry Co., Ltd., Handan 056000, China"}]},{"given":"Wei","family":"Ke","sequence":"additional","affiliation":[{"name":"Hebei Hanguang Industry Co., Ltd., Handan 056000, China"}]}],"member":"1968","published-online":{"date-parts":[[2019,10,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"355","DOI":"10.1109\/TIM.2015.2502879","article-title":"Analytic Coarse Transfer Alignment Based on Inertial Measurement Vector Matching and Real-Time Precision Evaluation","volume":"65","author":"Lu","year":"2016","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"105","DOI":"10.1016\/j.ast.2018.02.029","article-title":"Improved Polar Inertial Navigation Algorithm Based on Pseudo INS Mechanization","volume":"77","author":"Liu","year":"2018","journal-title":"Aerosp. Sci. Technol."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"916","DOI":"10.1016\/j.ast.2018.11.025","article-title":"Instantaneous Observable Degree modeling Based on Movement Measurement for Airborne POS","volume":"84","author":"Li","year":"2018","journal-title":"Aerosp. Sci. Technol."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"20","DOI":"10.1017\/S0373463317000492","article-title":"Velocity-Aided In-Motion Alignment for SINS Based on Pseudo-Earth Frame","volume":"71","author":"Liu","year":"2018","journal-title":"J. Navig."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"1024","DOI":"10.1109\/TAES.2013.6494396","article-title":"Velocity\/Position Integration Formula Part II: Application to Strapdown Inertial Navigation Computation","volume":"49","author":"Wu","year":"2013","journal-title":"Aerosp. Electron. Syst. IEEE Trans."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"1697","DOI":"10.1109\/TAES.2016.130824","article-title":"Optimization-Based Alignment for Strapdown Inertial Navigation System Comparison and Extension","volume":"52","author":"Chang","year":"2014","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"95","DOI":"10.1016\/j.ast.2017.10.041","article-title":"Anti-Disturbance Fault Tolerant Initial Alignment for Inertial Navigation System Subjected to Multiple Disturbances","volume":"72","author":"Cao","year":"2018","journal-title":"Aerosp. Sci. Technol."},{"key":"ref_8","doi-asserted-by":"crossref","first-page":"3872","DOI":"10.1016\/j.ijleo.2015.07.187","article-title":"Alignment calibration of IMU and Doppler sensors for precision INS\/DVL integrated navigation","volume":"126","author":"Li","year":"2015","journal-title":"Opt. Int. J. Light Electron Opt."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"368","DOI":"10.1016\/j.ast.2018.07.026","article-title":"Intelligent GNSS\/INS Integrated Navigation System for a Commercial UAV Flight Control System","volume":"80","author":"Zhang","year":"2018","journal-title":"Aerosp. Sci. Technol."},{"key":"ref_10","doi-asserted-by":"crossref","first-page":"3631","DOI":"10.1016\/j.ijleo.2015.08.226","article-title":"Moving Base Alignment of a Fiber Optic Gyro Inertial Navigation System for Autonomous Underwater Vehicle Using Doppler Velocity Log","volume":"126","author":"Wang","year":"2015","journal-title":"Opt. Int. J. Light Electron Opt."},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"755","DOI":"10.1016\/j.ast.2018.03.040","article-title":"A New Direct Filtering Approach to INS\/GNSS Integration","volume":"77","author":"Hu","year":"2018","journal-title":"Aerosp. Sci. Technol."},{"key":"ref_12","first-page":"1006","article-title":"Velocity\/Position Integration Formula Part I: Application to In-Flight Coarse Alignment","volume":"49","author":"Wu","year":"2012","journal-title":"IEEE Trans. Aerosp. Sci. Technol."},{"key":"ref_13","first-page":"334","article-title":"Error Analysis of Analytic Coarse Alignment Methods","volume":"34","author":"Jiang","year":"1998","journal-title":"IEEE Trans. Aerosp. Sci. Technol."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"500","DOI":"10.1016\/j.ast.2018.06.015","article-title":"Generalized Error Analysis of Analytical Coarse Alignment Formulations for Stationary SINS","volume":"79","author":"Felipe","year":"2018","journal-title":"Aerosp. Sci. Technol."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"1930","DOI":"10.1109\/TIM.2011.2113131","article-title":"Coarse Alignment of a Ship\u2019s StrapdownInertial Attitude Reference System Using Velocity Loci","volume":"60","author":"Silson","year":"2011","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.ast.2010.05.004","article-title":"Optimization-Based Alignment for Inertial Navigation Systems: Theory and Algorithm","volume":"15","author":"Wu","year":"2011","journal-title":"Aerosp. Sci. Technol."},{"key":"ref_17","unstructured":"Gu, D., El-Sheimy, N., Hassan, T., and Syed, Z. (April, January 31). Coarse Alignment for Marine SINS Using Gravity in the Inertial Frame as a Reference. Proceedings of the Position, Location Navigation Symposium, IEEE\/ION, Las Vegas, NV, USA."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"2916","DOI":"10.1109\/TIM.2012.2202989","article-title":"Quaternion-Optimization-Based In-Flight Alignment Approach for Airborne POS","volume":"61","author":"Taizhong","year":"2012","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"ref_19","doi-asserted-by":"crossref","first-page":"727","DOI":"10.1017\/S0373463314000198","article-title":"An Improved Optimal Method For Initial Alignment","volume":"67","author":"Li","year":"2014","journal-title":"J. Navig."},{"key":"ref_20","doi-asserted-by":"crossref","first-page":"3836","DOI":"10.1063\/1.4903196","article-title":"An Improved Self-Alignment Method for Strapdown Inertial Navigation System Based on Gravitational Apparent Motion and Dual-Vector","volume":"85","author":"Liu","year":"2014","journal-title":"Rev. Sci. Instrum."},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Liu, M., Gao, Y., and Li, G. (November, January 29). Moving base alignment for SINS based on pseudo inertial navigation system modeling. Proceedings of the IECON 2017-43rd Annual Conference of the IEEE Industrial Electronics Society, Beijing, China.","DOI":"10.1109\/IECON.2017.8217206"},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"737","DOI":"10.1017\/S0373463313000295","article-title":"An Improved Initial Alignment Method for Rocket Navigation Systems","volume":"66","author":"Zhu","year":"2013","journal-title":"J. Navig."},{"key":"ref_23","doi-asserted-by":"crossref","first-page":"784","DOI":"10.1109\/TIM.2014.2355652","article-title":"Initial Alignment by Attitude Estimation for Strapdown Inertial Navigation Systems","volume":"64","author":"Chang","year":"2015","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"795","DOI":"10.1109\/TIM.2014.2359516","article-title":"Backtracking Integration for Fast Attitude Determination-Based Initial Alignment","volume":"64","author":"Chang","year":"2015","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"ref_25","doi-asserted-by":"crossref","first-page":"766","DOI":"10.1109\/JSEN.2016.2633428","article-title":"In\u2013Motion Initial Alignment for Odometer-Aided Strapdown Inertial Navigation System Based on Attitude Estimation","volume":"17","author":"Chang","year":"2016","journal-title":"IEEE Sens. J."},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"9827","DOI":"10.3390\/s150509827","article-title":"A Self-Alignment Algorithm for SINS Based on Gravitational Apparent Motion and Sensor Data Denoising","volume":"15","author":"Liu","year":"2015","journal-title":"Sensors"},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Xu, X., Xu, X., Zhang, T., Li, Y., and Wang, Z. (2017). A Coarse Alignment Method Based on Digital Filters and Reconstructed Observation Vectors. Sensors, 17.","DOI":"10.3390\/s17040709"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"25520","DOI":"10.3390\/s151025520","article-title":"An Improved Inertial Frame Alignment Algorithm Based on Horizontal Alignment Information for Marine SINS","volume":"15","author":"Che","year":"2015","journal-title":"Sensors"},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"2274","DOI":"10.1109\/TIM.2017.2692311","article-title":"A Novel Autonomous Initial Alignment Method for Strapdown Inertial Navigation System","volume":"66","author":"Xu","year":"2017","journal-title":"IEEE Trans. Instrum. MEAS"},{"key":"ref_30","doi-asserted-by":"crossref","first-page":"3364","DOI":"10.1109\/TIM.2017.2737840","article-title":"Kalman-Filtering-Based in-Motion Coarse Alignment for Odometer-Aided SINS","volume":"66","author":"Huang","year":"2017","journal-title":"IEEE Trans. Instrum. MEAS"},{"key":"ref_31","doi-asserted-by":"crossref","unstructured":"Li, S., Gao, Y., and Liu, M. (2019). Multistage Attitude Determination Alignment for Velocity-Aided In-Motion Strapdown Inertial Navigation System with Different Velocity Models. Sensors, 19.","DOI":"10.3390\/s19030665"},{"key":"ref_32","doi-asserted-by":"crossref","first-page":"329","DOI":"10.1109\/TMECH.2016.2616412","article-title":"Initial Alignment for Doppler Velocity Log aided Strapdown Inertial Navigation System with Limited Information","volume":"22","author":"Chang","year":"2016","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"ref_33","doi-asserted-by":"crossref","first-page":"563","DOI":"10.1016\/j.measurement.2012.08.015","article-title":"A Novel Algorithm for Marine Strapdown Gyrocompass Based on Digital Filter","volume":"46","author":"Li","year":"2013","journal-title":"Measurement"}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/20\/4568\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T13:28:03Z","timestamp":1760189283000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/19\/20\/4568"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,10,21]]},"references-count":33,"journal-issue":{"issue":"20","published-online":{"date-parts":[[2019,10]]}},"alternative-id":["s19204568"],"URL":"https:\/\/doi.org\/10.3390\/s19204568","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2019,10,21]]}}}