Gravitational Apparent Motion-Based SINS Self-Alignment Method for Underwater Vehicles
Why this work is in the frame
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Bibliographic record
Abstract
To solve the self-alignment problem of strapdown inertial navigation system (SINS) for underwater vehicles, a novel gravitational apparent motion (GAM)-based method is proposed. Different from conventional GAM methods, the proposed GAM method can complete SINS self-alignment under swaying conditions without using the a priori local latitude information. First, we determine the gravity vector in the earth frame and the local latitude by using the gradient descent optimization and certain geometry constraints. Then, the self-alignment process is formulated as an optimization-based alignment quaternion determination problem by constructing an objective function with the estimated gravity vector. We employ gradient descent optimization to achieve the least square solution of the objective function. Thus, the attitude quaternion can be determined according to the quaternion product chain rule. The simulation and experiments results demonstrate the proposed GAM method without using the local latitude achieves an alignment accuracy close to conventional GAM methods during the coarse alignment process.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it