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

  • 제20권4호
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  • Pages.468-473
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  • 2014
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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큰 초기 자세 오차를 가진 관성항법장치의 운항중 정렬을 위한 비선형 필터 연구

Nonlinear Filtering Approaches to In-flight Alignment of SDINS with Large Initial Attitude Error

  • 투고 : 2013.02.07
  • 심사 : 2014.01.13
  • 발행 : 2014.04.01
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초록

This paper describes the in-flight alignment of SDINS (Strapdown Inertial Navigation Systems) using an EKF (Extended Kalman Filter) and a UKF (Unscented Kalam Filter), which allow large initial attitude error uncertainty. Regardless of the inertial sensors, there are nonlinear error dynamics of SDINS in cases of large initial attitude errors. A UKF that is one of the nonlinear filtering approaches for IFA (In-Flight Alignment) are used to estimate the attitude errors. Even though the EKF linearized model makes velocity errors when predicting incorrectly in case of large attitude errors, a UKF can represent correctly the velocity errors variations of attitude errors with nonlinear attitude error components. Simulation results and analyses show that a UKF works well to handle large initial attitude errors of SDINS and the alignment error attitude estimation performance are quite improved.

키워드

참고문헌

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피인용 문헌

  1. Shift Steering Control of 2-axis ARM Helicopter based on a Neural Network vol.21, pp.7, 2015, https://doi.org/10.5302/J.ICROS.2015.15.0033
  2. Design and Evaluation of INS Initial Alignment under Vibration Environment of Aircraft Run-up vol.21, pp.7, 2015, https://doi.org/10.5302/J.ICROS.2015.15.0024