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Testing the Coarse Alignment Algorithm Using Rotation Platform

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Author(s): Milos Sotak

Journal: Acta Polytechnica Hungarica
ISSN 1785-8860

Volume: 7;
Issue: 5;
Start page: 87;
Date: 2010;
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Keywords: alignment algorithm | attitude | inertial measurement unit | navigation

ABSTRACT
The paper deals with testing the coarse alignment algorithm for the inertialmeasurement unit ADIS16405 using a rotation platform. The ADIS16405 is the new sixdegreeof freedom inertial measurement unit which is being produced by Analog Devices.The main goal of the paper is to describe the determination of the initial attitude of theinertial measurement unit with respect to the navigation frame as a referenced frame and todepict appropriate tests using a rotation platform. In this work the attitude is representedby the Euler angles (the roll, pitch and yaw angles). The tests were conducted using theINS/GNSS development kit which had been mounted on the rotation platform. The overallfactual results are illustrated and correctness of the algorithm was definitely confirmed.
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