Journal of the Korea Institute of Military Science and Technology (한국군사과학기술학회지)

The Korea Institute of Military Science and Technology (한국군사과학기술학회)
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Analysis of Alignment Accuracy due to Velocity/Attitude Error of Master Inertial Navigation System in Velocity/Attitude Matching Transfer Alignment

속도/자세 정합 전달정렬에서 주 관성항법장치 속도/자세 오차에 의한 정렬 정확도 분석

  • Cheonjoong Kim (Missile Research Institute - 6th Directorate, Agency for Defense Development) ;
  • Inseop Lee (Missile Research Institute - 6th Directorate, Agency for Defense Development) ;
  • Chansik Park (Department of Intelligent System and Robotics, Chungbuk National University) ;
  • Junmin Park (Department of Electronics Engineering, Chungnam National University)
  • 김천중 (국방과학연구소 미사일연구원 6부) ;
  • 이인섭 (국방과학연구소 미사일연구원 6부) ;
  • 박찬식 (충북대학교 지능로봇공학과) ;
  • 박준민 (충남대학교 전자공학과)
  • Received : 2024.05.03
  • Accepted : 2024.07.31
  • Published : 2024.10.05
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Abstract

This paper theoretically analyzes the effect of the velocity and attitude errors of Master Inertial Navigation System(MINS) on the accuracy of Slave Inertial Navigation System(SINS) transfer alignment in velocity and attitude matching, and validates the analysis through simulation. Theoretical analysis involves deriving a new state equation that considers the velocity and attitude errors of MINS from the state equation of the transfer alignment filter, and deriving the state estimation equation of the Kalman filter based on this. The analysis confirms that MINS's velocity and attitude errors induce the same level of velocity and attitude errors in SINS. A reference inertial navigation system model is added to the simulation model, and the transfer alignment accuracy is analyzed by comparing the navigation information of MINS and SINS with the reference inertial navigation system. It is confirmed that the accuracy analysis results through simulation are consistent with the theoretically analyzed results, and through this, the validity of the theoretically analysis in this paper is verified. The research findings indicate that when performing transfer alignment using MINS, which is likely to be operated for prolonged periods in pure inertial navigation mode, the navigation errors of MINS are transferred to SINS. This implies that initial correction navigation is necessary to be considered for SINS

Keywords

Acknowledgement

본 연구는 정부(방위사업청)의 재원으로 국방과학연구소에서 수행한 연구임

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