Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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In-Flight Alignment of SDINS without Initial Heading Information

초기 기수각 정보가 필요 없는 SDINS의 운항중 정렬

  • 홍현수 (서울대학교 전기ㆍ컴퓨터공학부) ;
  • 이장규 (서울대학교 전기ㆍ컴퓨터공학부) ;
  • 박찬국 (광운대학교 정보제어공학과)
  • Published : 2002.06.01
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Abstract

This paper presents a new in-flight alignment method for an SDINS under large initial heading error. To handle large heading error, a new attitude error model is introduced. The attitude errors are divided into heading error and leveling errors using a newly defined horizontal frame. Some navigation error dynamic models are derived from the attitude error model for indirect feedback filtering of the in-flight alignment system. A Kalman filter with Position measurement is designed to estimate navigation errors as the indirect feedback filter Simulation results show that the proposed in-flight alignment method reduces the heading error very quickly from more than 40deg to about 5deg so as to apply a refined navigation filter. The total alignment process including leveling mode and navigation mode in addition to the proposed one allows large initial values not only in heading error but also in leveling errors.

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References

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  1. Nonlinear Filtering Approaches to In-flight Alignment of SDINS with Large Initial Attitude Error vol.20, pp.4, 2014, https://doi.org/10.5302/J.ICROS.2014.13.1884