الگوریتم ناوبری مستقل از موقعیت سامانه‌ی اینرسی صفحه پایدار

نوع مقاله : گرایش دینامیک، ارتعاشات و کنترل

نویسندگان

کنترل، برق و کامپیوتر، مالک اشتر، تهران، ایران

چکیده

در این مقاله الگوریتم ناوبری مستقل از موقعیت یک سامانه‌ی اینرسی صفحه پایدار طراحی شده و در قالب دو قضیه بیان و اثبات شده است. الگوریتم‌های ناوبری متداول از تخمین نرخ‌های موقعیت برای ساخت فرامین سرعت زاویه‌ای اعمالی به ژیروسکوپ‌ها استفاده می‌کنند، این کار نه تنها منبع اولیه‌ای برای خطای موقعیت بوده بلکه پیاده‌سازی فرامین را پیچیده می‌کند. مزیت اصلی الگوریتم ناوبری مستقل از موقعیت این است که فرامین سرعت زاویه‌ای، مستقل از موقعیت سامانه‌ی ناوبری و متناسب با انتگرال شتاب‌ها بوده و بدین ترتیب خطاهای ناشی از تخمین نرخ طول و عرض جغرافیایی به صفحه پایدار اعمال نشده و باعث خارج شدن آن از تراز و ایجاد خطا نمی‌شود. در این مقاله، مدل‌سازی سامانه‌ی صفحه پایدار، نحوه‌ی ترازسازی صفحه و شرایط اولیه‌ی ورود به فاز ناوبری ارائه شده است. برای ارزیابی عملکرد الگوریتم ناوبری ارائه شده، نتایج این الگوریتم با نتایج الگوریتم ناوبری سمت-رها به ازای چهار سناریوی مختلف مقایسه شده است. همچنین عملکرد الگوریتم ناوبری مستقل از موقعیت در آزمون‌های عملی مورد بررسی و ارزیابی قرار گرفته و نتایج آن ارائه شده است.

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