Initial Leveling of Strapdown Inertial Navigation System with an On-Line Robust Input Estimator

概要

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Initial leveling of strapdown inertial navigation system is a prerequisite work for distinguishing between gravity and acceleration effects in the accelerometer sensing's. This study presents an on-line methodology to resolve the initial leveling problem of a vehicle, which is subject to a large, long duration, and abrupt disturbance input with a deterministic nature under noisy circumstances. The developed method herein is the Kalman filter based scheme with a robust input estimator, generalized M estimator, and a testing criterion. The generalized M estimator identifies the unexpected disturbance inputs in real time. In addition, hypothetical testing based on the least-squares estimator is devised to detect the input's onset and presence. A required regression equation between the observed value of the residual sequence with an unknown input and theoretical residual sequence of the Kalman filter with no input is formulated. Input estimation and detection are then provided on the basis of the derived regression equation. Moreover, Monte Carlo simulations re performed to assess the superior capabilities of the proposed method in term of rapid responses, accuracy, and robustness. The efficient initial leveling can facilitate the entire alignment of the inertial system.
社団法人電子情報通信学会の論文
1998-11-25