Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2008.14.6.595

Error Analysis of Initial Fine Alignment for Non-leveling INS  

Cho, Seong-Yun (한국전자통신연구원 텔레매틱스연구부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.14, no.6, 2008 , pp. 595-602 More about this Journal
Abstract
In this paper, performance of the initial alignment for INS whose attitude is not leveled is investigated. Observability of the initial alignment filter is analyzed and estimation errors of the estimated state variables are derived. First, the observability is analyzed using the rank test of observability matrix and the normalized error covariance of the Kalman filter based on the 10-state model. In result, it can be seen that the accelerometer biases on horizontal axes are unobservable. Second, the steady-state estimation errors of the state variables are derived using the observability equation. It is verified that the estimates of the state variables have errors due to the unobservable state variables and the non-leveling tilt angles of a vehicle containing the INS. Especially, this paper shows that the larger the tilt angles of the vehicle are, the larger the estimation errors corresponding to the sensor biases are. Finally, it is shown that the performance of the 8-state model excepting the accelerometer biases on horizontal axes is better than that of the 10-state model in the initial alignment by simulation.
Keywords
INS; initial fine alignment; Kalman filter; observability; estimation error;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 Y. F. Jiang, "Error analysis of analytic coarse alignment methods," IEEE Trans. Aerospace and Electronic Systems, vol. 34, no. 1, pp. 334-337, Jan., 1998   DOI   ScienceOn
2 C. Zhang, W. Tian, and Z. Jin, "A novel method improving the alignment accuracy of a strapdown inertial navigation system on a stationary base," Measurement Science and Technology, vol. 15, pp. 765-769, 2004   DOI   ScienceOn
3 D. G. Meskin and I. Y. Bar-Itzhack, "Observability analysis of piece-wise constant systems part I: Theory," IEEE Trans. Aerospace and Electronic Systems, vol. 28, no. 4, pp. 1056-1067, Oct. 1992   DOI   ScienceOn
4 F. M. Ham and R. G. Brown, "Observability, eigenvalues, and Kalman filtering," IEEE Trans. Aerospace and Electronic Systems, vol. 29, no. 4, pp. 269-273, Oct. 1993
5 G. M. Siouris, Aerospace Avionics Systems, Academic Press, 1993
6 J. G. Lee, C. G. park, and H. W. Park, "Multiposition alignment of strapdown inertial navigation system," IEEE Trans. Aerospace and Electronic Systems, vol. 29, no. 4, pp. 1323-1328, Oct. 1993   DOI   ScienceOn
7 K. Rief, S, Gunther, E. Yaz, and R. Unbehauen, "Stochastic stability of the discrete-time extended Kalman filter," IEEE Trans. Automatic Control, vol. 44, no. 4, pp. 714-728, Apr. 1999   DOI   ScienceOn
8 J. C. Fang and D. J. Wan, "A fast initial alignment method for strapdown inertial navigation system on stationary base," IEEE Trans. Aerospace and Electronic Systems, vol. 32, no. 4, pp. 1501-1505, Oct. 1996   DOI   ScienceOn
9 H. K. Lee, J. G. Lee, C. G. Park, and Y. K. Rho, "Modeling quaternion errors in SDINS: computer frame approach," IEEE Trans. Aerospace and Electronic Systems, vol. 34, no. 1, 1998, pp. 289-299   DOI   ScienceOn
10 S. Hong, M. H. Lee, H. H. Chun, S. H. Kwon, and J. L. Speyer, "Observability of error states in GPS/INS integration," IEEE Trans. Vehicular Technology, vol. 54, no. 2, pp. 731-743, Mar., 2005   DOI   ScienceOn
11 Y. F. Jiang and Y. P. Lin, "Error estimation of INS ground alignment through observability analysis," IEEE Trans. Aerospace and Electronic Systems, vol. 28, no. 1, pp. 92-97, Jan., 1992   DOI   ScienceOn
12 S. Y. Cho and W. S. Choi, "Performance enhancement of lowcost land navigation for location based Service," ETRI Journal, vol. 28, no. 2, Apr., 2006, pp. 131-144   DOI   ScienceOn
13 I. Y. Bar-Itzhack and N. Berman, "Control theoretic approach to inertial navigation system," Journal of Guidance and Control, vol. 11, no. 3, pp. 237-245, 1998   DOI   ScienceOn
14 D. H. Titterton and J. L. Weston, Strapdown Inertial Navigation Technology, Peter Peregrinus Ltd., 1997
15 J. A. Farrell and M. Barth, The Global Positioning System & Inertial Navigation, McGraw-Hill, 1999
16 K. W. Jolodziej and J. Hjelm, Local Positioning Systems - LBS Applications and Services, CRC Press, 2006