In-Flight Alignment of SDINS under Large Initial Heading Error.

概要

論文の詳細を見る
This paper presents a new method of in-flight alignment for a Strapdown Inertial Navigation System (SDINS) under a large initial heading error. To handle the large heading error, a new attitude error model is introduced in which attitude errors are divided into heading and leveling errors using a newly defined horizontal frame. Some navigation error dynamic models are derived from the attitude error model for indirect feedback filtering of the in-flight alignment system. A Kalman filter with position measurements is designed to estimate navigation errors as an indirect feedback filter. Simulation results show that the newly developed model works effectively for coarse alignment of a large heading error. The proposed in-flight alignment method decreases the heading error very quickly from more than 40 degrees to about a few degrees.
公益社団法人計測自動制御学会の論文