제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)
- 제4권5호
- /
- Pages.674-679
- /
- 1998
- /
- 1976-5622(pISSN)
- /
- 2233-4335(eISSN)
스트랩다운 관성항법시스템의 초기 개략정렬 알고리즘 개발
Development of an Initial Coarse Alignment Algorithm for Strapdown Inertial Navigation System
초록
In this paper, a new coarse alignment algorithm is proposed for roughly determining the initial attitude of the vehicle. The algorithm, referred as two-step coarse alignment algorithm, computes roll and pitch angle of the vehicle using accelerometer outputs, and then determines yaw angle with gyro outputs. With the geometric relation between sensor outputs and attitude angles, the algorithm error is analytically derived and compared with the previous coarse alignment algorithm that computes a transformation matrix using accelerometer md gyro outputs simultaneously. The simulation is also performed by varying the sensor errors. The results show that the proposed two-step coarse alignment algorithm has better performance for east tilt angle.