Algorithm of the autonomous initial alignment of sins with sequential filtering
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Дата
2021
Автори
Науковий керівник
Назва журналу
Номер ISSN
Назва тому
Видавець
КПІ ім. Ігоря Сікорського
Анотація
An algorithm for an autonomous initial alignment of a strapdown inertial navigation system on a fixed or limitedly movable base is proposed and considered. It
sequentially uses two Kalman averaging filters in. The first one determines one
column of the directing cosines matrix (DCM) between the axes of the associated
with the object and the geographical accompanying bases by the signals of the accelerometers. The second filter determines the second column of the matrix based
on the gyroscope signals and the obtained estimates of the direction cosines. The
third column is determined from known ratios. From the resulting DCM, the heading, pitch and roll angles are determined. Information signals for solving the problem are obtained by averaging a small interval (5 s) at the end of the Kalman filter
transition process. This allows minimizing errors from changing the position of the
object during the measurement time, which can reach tens of minutes. The advantage of the algorithm is the independence of errors from the object heading. It
is shown that pre-smoothing of signals improves accuracy. The algorithm makes it
possible to determine the orientation angles, and then the direction cosines at a
measurement time insufficient to complete the transient evaluation process by the
Kalman filter. The conducted field experiments confirm the good characteristics of
the alignment on a fixed and vibrating base, achieved using the algorithm.
Опис
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Бібліографічний опис
Meleshko, V. V. Algorithm of the autonomous initial alignment of sins with sequential filtering / V. V. Meleshko // Механіка гіроскопічних систем : науково-технічний збірник. – 2021. – Вип. 41. – С. 37-50. – Бібліогр.: 17 назв.