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http://dx.doi.org/10.12673/jant.2021.25.6.543

Robust Transfer Alignment Method based on Krein Space  

Sung-Hye Choe (Aerospace Research Institue, Hanwha Systems)
Ki-Young Park (Aerospace Research Institue, Hanwha Systems)
Hyoung-Min Kim (Aerospace Research Institue, Hanwha Systems)
Cheol-Kwan Yang (School of Electrical Engineering, Kookmin University)
Publication Information
Journal of Advanced Navigation Technology / v.25, no.6, 2021 , pp. 543-549 More about this Journal
Abstract
In this paper, a robust transfer alignment method is proposed for a strapdown inertial navigation system(SDINS) with norm-bounded parametric uncertainties. The uncertainties are described by the energy bound constraint, i.e., sum quadratic constraint(SQC). It is shown that the SQC can be coverted into an indefinite quadratic cost function in the Krein space. Krein space Kalman filter is designed by modifying the measurement matrix and the variance of measurement noises in the conventional Kalman filter. Since the proposed Krein space Kalman filter has the same recursive structure as a conventional Kalman filter, the proposed filter can easily be designed. The simulation results show that the proposed filter achieves robustness against measurement time delay and high dynamic environment of the vehicle.
Keywords
Inertial navigation system(INS); Transfer alignment; Krein space; Kalman filter; Robust filter;
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