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A Coarse Alignment Based on the Sliding Fixed-Interval Least Squares Denoising Method

Yongyun Zhu1, Tao Zhang1,*, Mohan Li2, Di Wang1, Shaoen Wu3

1 School of Instrumental Science and Engineering, Southeast University, Nanjing, 210096, China.
2 China Shipbuilding Industry System Engineering Research Institute, Beijing, 100036, China.
3 Department of Computer Science, Ball State University, Muncie, USA.
* Corresponding Author: Tao Zhang. Email:

Computers, Materials & Continua 2019, 61(3), 1305-1321.


The observation vectors in traditional coarse alignment contain random noise caused by the errors of inertial instruments, which will slow down the convergence rate. To solve the above problem, a real-time noise reduction method, sliding fixed-interval least squares (SFI-LS), is devised to depress the noise in the observation vectors. In this paper, the least square method, improved by a sliding fixed-interval approach, is applied for the real-time noise reduction. In order to achieve a better-performed coarse alignment, the proposed method is utilized to de-noise the random noise in observation vectors. First, the principles of proposed SFI-LS algorithm and coarse alignment are devised. A simulation test and turntable experiment were executed to demonstrate the availability of the designed method. It is indicated that, from the results of the simulation and turntable tests, the designed algorithm can effectively reduce the random noise in observation vectors. Therefore, the proposed method can enhance the performance of coarse alignment availably.


Cite This Article

Y. Zhu, T. Zhang, M. Li, D. Wang and S. Wu, "A coarse alignment based on the sliding fixed-interval least squares denoising method," Computers, Materials & Continua, vol. 61, no.3, pp. 1305–1321, 2019.

This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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