The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Study on the Design of Correction Filter for High-Speed Guided Missile Firing from Warship after Transfer Alignment

전달정렬 함상 발사 고속 유도무기의 보정필터 설계에 대한 연구

  • Received : 2018.11.23
  • Accepted : 2018.12.24
  • Published : 2019.01.01
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Abstract

This paper presents the study results on the design of the correction filter to improve the azimuth error estimation of the high-speed guided missile launched from the warship after the transfer alignment. We theoretically proved that the transfer alignment performance is determined by the accuracy of the marine inertial navigation system and the observability of the attitude error state variable in the transfer alignment filter, and that most of navigation errors in high-speed guided missile are caused by azimuth error. In order to improve the azimuth estimation performance of the correction filter, the multiple adaptive estimation method and the adaptive filters adapting the measurement noise covariance or the process noise covariance are proposed. The azimuth estimation performance of the proposed adaptive filter and the existing Kalman filter are compared and analyzed each other for 8 different transfer alignment accuracy cases. As a result of comparison and analysis, it was confirmed that the adaptive filter adapting the process noise covariance has the best azimuth estimation performance. These results can be applied to the design of correction filters for high-speed guided missile.

Keywords

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그림 1 다중모델 적응 필터의 블록 다이어그램 Fig. 1 Block diagram of multiple model adaptive estimation(MMAE)

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그림 2 X축 비정렬 각 추정치 Fig. 2 Estimation of X-Axis Misalignment Angle

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그림 3 Y축 비정렬 각 추정치 Fig. 3 Estimation of Y-Axis Misalignment Angle

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그림 4 Z축 비정렬 각 추정치 Fig. 4 Estimation of Z-Axis Misalignment Angle

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그림 5 Sim1의 보정필터 방위각 오차 추정성능 시뮬레이션 결과 Fig. 5 Simulation result of heading error estimation performance of correction filter for Sim1

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그림 6 Sim2의 보정필터 방위각 오차 추정성능 시뮬레이션 결과 Fig. 6 Simulation result of heading error estimation performance of correction filter for Sim2

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그림 7 Sim3의 보정필터 방위각 오차 추정성능 시뮬레이션 결과 Fig. 7 Simulation result of heading error estimation performance of correction filter for Sim3

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그림 8 Sim4의 보정필터 방위각 오차 추정성능 시뮬레이션 결과 Fig. 8 simulation result of heading error estimation performance of correction filter for Sim4

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그림 9 Sim5의 보정필터 방위각 오차 추정성능 시뮬레이션 결과 Fig. 9 Simulation result of heading error estimation performance of correction filter for Sim5

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그림 10 Sim6의 보정필터 방위각 오차 추정성능 시뮬레이션 결과 Fig. 10 Simulation result of heading error estimation performance of correction filter for Sim6

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그림 11 Sim7의 보정필터 방위각 오차 추정성능 시뮬레이션 결과 Fig. 11 Simulation result of heading error estimation performance of correction filter for Sim7

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그림 12 Sim8의 보정필터 방위각 오차 추정성능 시뮬레이션 결과 Fig. 12 Simulation result of heading error estimation performance of correction filter for Sim8

표 1 시뮬레이션 위한 전달정렬 정확도 조건 Table 1 Accuracy Condition of Tranfer Alignment for Simulation

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표 2 해외 함정용 관성항법장치 정확도 Table 2 Accuracy Specifications of Overseas Ship’s Inertial Navigation System

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표 3 3개의 다중모델 적응 필터 초기 공분산 Table 3 Initial Error Covariance of MMAE

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표 4 성능분석 대상 보정필터 Table 4 Correction Filter for Performance Analysis

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표 5 Sim1/2에 대한 보정필터 방위각 오차 추정 성능 Table 5 Heading error estimation performance of correction filter for Sim1/2

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표 6 Sim3/4에 대한 보정필터 방위각 오차 추정 성능 Table 6 Heading error estimation performance of correction filter for Sim3/4

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표 7 Sim5/6에 대한 보정필터 방위각 오차 추정 성능 Table 7 Heading error estimation performance of correction filter for Sim5/6

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표 8 Sim7/8에 대한 보정필터 방위각 오차 추정 성능 Table 8 Heading error estimation performance of correction filter for Sim7/8

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