Transfer Alignment Error Compensator Design Based on Robust State Estimation

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概要

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• This paper examines the transfer alignment problem of the StrapDown Inertial Navigation System (SDINS), which is subject to the ship’s roll and pitch. Major error sources for velocity and attitude matching are lever arm effect, measurement time delay and ship-body flexure. To reduce these alignment errors, an error compensation method based on state augmentation and robust state estimation is devised. A linearized error model for the velocity and attitude matching transfer alignment system is derived first by linearizing the nonlinear measurement equation with respect to its time delay and dominant Y-axis flexure, and by augmenting the delay state and flexure state into conventional linear state equations. Then an H∞ filter is introduced to account for modeling uncertainties of time delay and the ship-body flexure. The simulation results show that this method considerably decreases azimuth alignment errors considerably.

• 2005-11-04

著者

• Lim You-chol

  Korea Space Launch Vehicle Program Office Korea Aerospace Research Institute

• LYOU Joon

  Department of Electronics Engineering, Chungnam National University

• Lyou Joon

  Department Of Electronics Engineering Chungnam National University

関連論文

• Transfer Alignment Error Compensator Design Based on Robust State Estimation

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