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Optimal Orientation Alignment for Inertial Navigation System Based on Improved Differential Evolution Algorithm
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AI
DOI：10.1109/taes.2026.3741820.png)
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Abstract
En 中文
This paper addresses the challenge of achieving rapid and high-precision initial alignment for Inertial Navigation Systems (INS) under complex measurement disturbances and large misalignment angles. An optimized alignment method based on an Improved Differential Evolution (IDE) algorithm is proposed. By constructing a dual-error balanced objective function that fuses gyroscope angular velocity errors and accelerometer specific force errors, and incorporating the gyro vertical bias as an additional optimization variable, the initial alignment problem is transformed into a nonlinear optimization problem involving joint estimation of the unit quaternion and the bias. The differential evolution algorithm is employed to perform a global search on the unit quaternion sphere and the bias parameter space, eliminating the reliance on precise system models and error parameters required by traditional methods. Simulation results demonstrate that the proposed method achieves consistent heading-angle and gyroscope bias estimation performance across two independent datasets and exhibits strong robustness in heading estimation under the complex disturbance conditions investigated. These results support its application to static-base or quasi-static initial alignment of high precision unmanned aerial vehicle inertial navigation systems under complex measurement disturbances.
Keywords:
Improved Differential Evolution Algorithm
Optimal Orientation Alignment
Inertial Navigation System
Bias Estimation
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5.7
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819
Citations:
2.4W
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