Browse > Article
http://dx.doi.org/10.5139/JKSAS.2006.34.4.047

Kalman Filter Design For Aided INS Considering Gyroscope Mixed Random Errors  

Seong, Sang-Man (한국기술교육대학교)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.34, no.4, 2006 , pp. 47-52 More about this Journal
Abstract
Using the equivalent ARMA model representation of the mixed random errors, we propose Klaman filter design methods for aided INS(Inertial Navigation System) which contains the gyroscope mixed random errors. At first step, considering the characteristic of indirect feedback Kalman filter used in the aided INS, we perform the time difference of equivalent ARMA model. Next, according to the order of the time differenced ARMA model, we achieve the state space conversion of that by two methods. If the order of AR part is greater than MA part, we use controllable or observable canonical form. Otherwise, we establish the state apace equation via the method that several step ahead predicts are included in the state variable, where we can derive high and low order models depending on the variable which is compensated from gyroscope output. At final step, we include the state space equation of gyroscope mixed random errors into aided INS Kalman filter model. Through the simulation, we show that both the high and low order filter models proposed give less navigation errors compared to the conventional filter which assume the mixed random errors as white noise.
Keywords
gyroscope; Mixed random errors; ARMA model; aided navigaion system; Kalman filter;
Citations & Related Records
연도 인용수 순위
  • Reference
1 Sang Man Seong, Jang Gyu Lee, and Chan Gook Park, 'Equivalent ARMA Model Representation for RLG Random Errors', IEEE Trans. on Aerospace and Electronic Systems, Vol. 36, No. 1, January 2000
2 A. S. Oravetz and H. J. Sandberg, 'Stationary and Nonstationary Characteristics of Gyro Drift Rate', AIAA Journal, October 1970
3 S. M. Pandit and W. Zhang, 'Modeling Gyro Drift Rate by Data Dependent Systems', IEEE Trans. on Aerospace and Electronic Systems, Vol. 22, No. 4, July 1986
4 H. Jiang, W. Q. Yang and Y. T. Yang, 'State Space Modeling of Random Drift Rate in High-Precision Gyro', IEEE Trans. on Aerospace and Electronic Systems, Vol. 32, No. 3, July 1996
5 Lawrence C. Ng and Darryll J. Pines, 'Characterization of Ring Laser Gyro Performance Using the Allan Variance Method', Journal of Guidance, Control, and Dynamics, Vol. 20, No. 1, January 1997
6 G. E. P. Box, G. M. Jenkins, and G. C. Reinsel, Time Series Analysis Forecasting and Control, 3rd ed., Prentice-Hall, 1994
7 Heung Won Park, Jang Gyu Lee, and Chan Gook Park, 'Covariance Analysis of Strapdown INS Considering Gyrocompass Characteristics', IEEE Trans. on Aerospace and Electronic Systems, Vol. 31, No. 1, January 1995
8 성상만, '등가 ARMA 모델에 의한 불규칙 혼합잡음 식별 기법 및 관성항법시스템 응용', 박사학위 논문, 2000
9 F. L. Lewis, Optimal Estimation with an introduction to stochastic control theory, John Wiely & Sons, 1986