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.

کلیدواژه‌ها


عنوان مقاله [English]

Position-Independent Navigation Scheme of a Gimballed Inertial System

نویسندگان [English]

  • Mohammad Ghesmati
  • Mohammad Reza Arvan
  • - -
Control, Electrical and Computer, Malek-Ashtar, Tehran, Iran
چکیده [English]

This paper deals with designing the navigation scheme of a gimballed inertial system. This design is introduced and proved in the form of two theorems. Most of the gimballed navigation schemes proposed in the literature have the drawback of estimating position rates for alignment commands. Not only the estimating position rates are the basic source of the position errors, but also, they make the alignment commands and their implementation more complicated. The major advantage of the proposed design is that it eliminates the errors resulting from the estimation of the longitude and latitude rates because the angular velocity commands of gyroscopes are proportional to accelerations’ integrals and independent of the system position. In this paper, the stabilized platform is modelled, the platform alignment procedure is determined, and the initial conditions of the navigation phase are calculated. The results of the navigation scheme are compared with the wander-azimuth scheme in four scenarios and the performance of the position-independent navigation scheme is evaluated in practical tests and its results are presented.

کلیدواژه‌ها [English]

  • navigation scheme
  • gimballed inertial system
  • alignment
  • stabilized platform
Jekeli, C., Inertial Navigation Systems with Geodetic Applications, New York, Walter de Gruyter, 2001.##
Izmailov, E. A., “Modern tendencies in development of inertial sensors and aircraft systems”, Trudy FGUP NPTs AP, Sistemy i Pribory Upravleniya, No. 1, pp. 30–43, 2010.##
Kuznetsov, A. G., Portnov, B. I., Izmailov, E. A., “Two Classes of Aircraft Strapdown Inertial Navigation Systems on Laser Gyros: Development and Test Results”, Gyroscopy and Navigation, Vol. 5, No. 4, pp. 187–194, 2014.##
Zhang DR, Bin YE, Dang J., “Flight test performance error analysis of the platform inertial navigation system”, Flight Dynamics, Vol. 29, No. 1, pp. 74-77, 2011.##
George, R., Pitman, JR., Inertial Guidance, New York, John Wiley & Sons, 1962.##
Britting, K.R., Inertial Navigation Systems Analysis, New York, John Wiley & Sons, 1971.##
Britting, K. R. "Analysis of Space Stabilized Inertial Navigation Systems", M.I.T. Experimental Astronomy Laboratory, RE-35, 1968.##
Britting, K. R. "Error Analysis of Strapdown and Local Level Inertial Systems Which Compute in Geographic Coordinates", M.I.T. Measurement Systems Laboratory, RE-52, 1969.##
Broxmeyer, C., Inertial Navigation Systems, New York, McGraw-Hill, 1964.##
Wiryadinata, R., Wahyunggoro, O., Widada, W., Sunarno, M., Santoso, I. “Modification of strapdown inertial navigation system algorithm for rocket flight test”, Journal of Theoretical and Applied Information Technology, Vol. 72, No. 2, pp. 273–279, 2015.##
Zhenhuan, W., Xijun, C., Qingshuang, Z. “Comparison of strapdown inertial navigation algorithm based on rotation vector and dual quaternion”, Chinese Journal of Aeronautics, Vol. 26, No. 2, pp. 442–448, 2013.##
Maria de Fátima Alves Nunes Bento, Development and Validation of an IMU/GPS/Galileo Integration Navigation System for UAV, PhD Thesis, University of Munich, Munich, Germany, 2013.##
MacKenzie, D. “Inventing Accuracy: A Historical Sociology of Nuclear Missile Guidance”, Massachusetts Institute of Technology, 1993.##
Britting, K. R. “PACE II space-stabilized inertial navigation system”, M.I.T. Instrumentation Lab., Vol. 1, No. 4, 1968.##
Wang, B., Ren, Q., Deng, Z.H., Fu, M.Y., “A self-calibration method for nonorthogonal angles between gimbals of rotational inertial navigation system”, IEEE Trans. Ind. Electron., Vol. 62, No.4, pp. 2353–2362, 2015.##
Gao, W., Zhang, Y., Wang, J.G, “Research on initial alignment and self-calibration of rotary strapdown inertial navigation systems”, Sensors, Vol. 15, No. 2, pp. 3154–3171, 2015.##
Fang, J., Qin, J., “Advances in atomic gyroscopes: A view from inertial navigation applications”, Sensors, Vol. 12, No. 5, pp. 6331–6346, 2012.##
Wang, H.G., Williams, T.C., “Strategic inertial navigation systems-High-accuracy inertially stabilized platforms for hostile environments”, IEEE Control Syst., Vol. 28, No.1, pp. 65–85, 2008.##
Quan, W., Lv, L., Liu, B., “Modeling and optimizing of the random atomic spin gyroscope drift based on the
atomic spin gyroscope”, Rev. Sci. Instrum., Vol. 85, No. 11, 2014.##
Duan, L., Quan, W., Jiang, L., Fan, W., Ding, M., Hu, Z., Fang, J., “Common-mode noise reduction in an atomic spin gyroscope using optical differential detection”, Appl. Opt., Vol. 56, No. 27, pp. 7734–7740, 2017.##
Zou, S., Zhang, H., Chen, X., “Modeling and filter algorithm analysis of all-optical atomic spin gyroscope’s random drift”, In Proceedings of the 2015 IEEE Metrology for Aerospace (MetroAeroSpace), Benevento, Italy, June 2015, pp. 207–219.##
Zou, S., Zhang, H., Chen, X., Chen, Y., Fang, J., “A novel calibration method research of the scale factor for the all-optical atomic spin inertial measurement device”, J. Opt. Soc. Korea, Vol. 19, No.4, pp. 415–420, 2015.##
Jiang, L., Quan, W., Li, R., Duan, L., Fan, W., Wang, Z., Liu, F., Xing, L., Fang, J., “Suppression of the cross-talk effect in a dual-axis K-Rb-21Ne comagnetometer”, Phys. Rev. A, Vol. 95, No. 6, 2017.##
Qingzhong, C., Gongliu, Y., Wei, Q., Ningfang, S., Yongqiang, Tu., Yiliang, L., “Error Analysis of the K-Rb-21Ne Comagnetometer Space-Stable Inertial Navigation System”, Sensors, Vol. 18, No. 2, 2018.##
Gao, Z., Error Propagation Property of Inertial Navigation System. In Inertial Navigation System Technology, Beijing, China: Tsinghua University Press, 2012.##
Wu, Q., Han, F, “New optimal approach to space-stable inertial navigation system”, In Proceedings of the 2011 10th International Conference on Electronic Measurement & Instruments (ICEMI), Chengdu, China,
August 2011, pp. 296–299.##
Kim, M.S., Yu, S.B., Lee, W.S., “Development of a high-precision calibration method for inertial measurement unit”, Int. J. Precis. Eng. Manuf., Vol. 15, No. 3, pp. 567–575, 2016.##
Yuan, B.L., Liao, D., Han, S.L., “Error compensation of an optical gyro INS by multi-axis rotation”, Meas. Sci. Technol., Vol. 23, No. 2, 2012.##
Song, N.F., Cai, Q.Z., Yang, G.L., Yin, H.L., “Analysis and calibration of the mounting errors between inertial measurement unit and turntable in dual-axis rotational inertial navigation system”, Meas. Sci. Technol.. Vol. 24, No. 11, 2013.##
Nie, Q., Gao, X.Y., Liu, Z., “Research on accuracy improvement of INS with continuous rotation”, In Proceedings of the IEEE International Conference on Information and Automation, Zhuhai, China, June 2009, pp. 849–853.##
Gao, Y.B., Guan, L.W., Wang, T.J., Kuang, H., “Position accuracy analysis for single-axis rotary FSINS”, Chin. J. Sci. Instrum., Vol. 35, pp. 794–800, 2014.##
Liu, F., Wang, W., Wang, L., Feng, P.D., “Error analyses and calibration methods with accelerometers for optical angle encoder in rotational inertial navigation systems”, Appl. Opt., Vol. 52, No. 32, pp. 7724–7731, 2013.##
Ren, Q., Wang, B., Deng, Z.H., Fu, M.Y., “A multi-position self-calibration method for dual-axis rotational inertial navigation system”, Sens. Actuators A Phys., Vol. 219, No. 3, pp. 24–31, 2014.##
Zhang, Q., Wang, L., Liu, Z., Feng, P., “An Accurate Calibration Method Based on Velocity in a Rotational Inertial Navigation System”, Sensors, Vol. 15, pp. 18443–18458, 2015.##
Hao, Y., Gong, J., Gao, W., and Li, L. “Research on the dynamic error of strapdown inertial navigation system”, in Proceedings of the IEEE International Conference on Mechatronics and Automation (ICMA ’08), 2008, pp. 814–819.##
Gomez-Estern, F., and Gordillo, F. “Error analysis in strapdown INS for aircraft assembly lines”, in Proceedings of the 10th International Conference on Control, Automation, Robotics and Vision (ICARCV ’08), 2008, pp. 184–189.##
Gao, W., Cao, B., Ben, Y., and Xu, B. “Analysis of gyro’s slope drift affecting inertial navigation system error”, in Proceedings of the IEEE International Conference on Mechatronics and Automation (ICMA ’09), 2009, pp. 3757–3762.##
Musoff, H., and Murphy, J. H. “Study of strapdown navigation attitude algorithms”, Journal of Guidance, Control, and Dynamics, Vol. 18, No. 2, pp. 287–290, 1995.##
Wang, J., Gu, H. “Compensation algorithm of device error for rate strapdown inertial navigation system”, in Proceedings of the 1st International Conference on Intelligent Networks and Intelligent Systems (ICINIS ’08), 2008, pp. 667–670.##
Qiao, Y.-H., Liu, Y., Su, B.-K., and Zeng, M. “Test method for error model coefficients of pendulous integrating gyro accelerometer on centrifuge”, Journal of Astronautics, Vol. 28, No. 4, pp. 854–931, 2007.##
Huang, C., Yi, G., Zen, Q., “Accuracy Evaluation Method of Stable Platform Inertial Navigation System Based on Quantum Neural Network”, NeuroQuantology, Vol. 16, No. 6, pp. 613-618, 2018.##
Grewal, M. S., Henderson, V. D., Miyasako, R. S. “Application of Kalman Filtering to the Calibration and Alignment of Inertial Navigation Systems”, IEEE Trans. Automat. Contr., Vol. 36, No. 1, 1991.##
Karsaz, A., Khaloozadeh, H. “Error analysis of a specific fire control system”, Journal of Control, Vol. 1, No. 1, pp. 55-68, 1385. (in Persian)##