제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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- Pages.665-671
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- 1994
Two-position alignment of strapdown inertia navigation system
- Lee, Jang-Gyu (Department of Control and Instrumentation Engineering and Automation and Systems Research Institute, Seoul National Univ., Seoul 151-742) ;
- Kim, Jin-Won (Department of Control and Instrumentation Engineering and Automation and Systems Research Institute, Seoul National University) ;
- Park, Heong-won (Department of Control and Instrumentation Engineering and Automation and Systems Research Institute, Seoul National University) ;
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Park, Chan-Gook
(Department of Control and Instrumentation Engineering, Kwangwoon University)
- 발행 : 1994.10.01
초록
Some extended results in the study of two-position alignment for strapdown inertial navigation system are presented. In [1], an observability analysis for two-position alignment was done by analytic rank test of the stripped observability matrix and numerical calculation of the error covariance propagation using ten-state error model. In this paper, it is done by an analytic approach which utilizes the nonsingular condition of the determinant of simplified stripped observability matrix and by numerical calculation of the error covariance propagation accomplished in more cases than [1], and the twelve-state error model including vertical channel is used instead of ten-state error model. In addition, it is confirmed that this approach more clearly produces the same result as shown in the original work in terms of complete observability and there exist some better two-position configurations than [1] using the twelve-state error model.
키워드