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《Chinese Journal of Sensors and Actuators》 2013-01
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Fast Dynamic North-Seeking Algorithm Based on Robust Estimation

JIANG Qingxian*,BAI Yunchao,MA Xiaohui,WANG Chengbin(Geography Information Engineering Natural Laboratory,Xi ' an Research Institute of Surveying and Mapping,Xi ' an,710054,China)  
A gyro north seeker is a kind of instrument determining geographic azimuth fast and accurately.Its primary characteristics are high orientation accuracy,short orientation time and free orientation on any time and sites except high latitudes.However,gyro north seeker is easily influenced by abnormal factors that lead to singularities in orientation observations.Adopting rotation-modulation method,an all-attitude north seeker is studied,which employs dynamically tuned gyro as angular velocity sensor.A mixed iterative algorithm based on robust estimation principle is constructed to degrade influence of abnormal noises on precision of north seeker.It is with high breakdown point initial value and assisted by IGGⅢ scheme.Calculations show that the algorithm based on reliable initial value and stable standard deviation factor can effectively degrade abnormal disturbances.Tests indicate that precision of north seeker excels 1.5′ in 4 minutes,which is much better than that of applying least squares estimation.
【Fund】: 国家自然科学基金项目(41004013 41004080)
【CateGory Index】: P207
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