طراحی و شبیه‌سازی الگوریتم تخمینِ جهت‌گیری اولیة سامانه ناوبری اینرسی براساس فیلتر کالمن و تخمین‌گر با ورودی نامعین

نوع مقاله : گرایش دینامیک، ارتعاشات و کنترل

نویسندگان

1 فارغ التحصیل دانشگاه صنعتی خواجه نصیرالدین طوسی

2 استادیار دانشکده هوافضا دانشگاه امام حسین

چکیده

تعیین دقیق جهت‌گیری اولیه برای یک سامانه ناوبری اینرسی، نقش مهمی را در دقت ناوبری ایفا می‌کند زیرا ناوبری اینرسی یک ناوبری کور بوده و به‌شدت به دقت شرایط اولیة تخمین، وابسته می‌باشد. در این مقاله روشی جدید برای افزایش دقت و سرعت همگرایی جهت‌گیری اولیه در یک سامانه ناوبری اینرسی ارائه‌شده است. این روش جدید شامل دو مرحله برای تخمین جهت‌گیری اولیه می‌باشد. این دو مرحله شامل تلفیق فیلتر کالمن با یک فیلتر تخمین حالت‎های یک سامانه با ورودی نامعین می‌باشد. هدف از مرحله اول، تخمین ناهم‌محوری افقی به کمک فیلتر کالمن بوده و هدف از مرحله دوم، تخمین ناهم‌محوری قطبی به کمک فیلتری است که از تخمین حاصل از فیلتر کالمن به‌عنوان ورودی برای تخمین خود استفاده می‌کند. براساس شبیه‌سازی انجام شده در این مقاله، استفاده از این روش نه‌تنها سبب افزایش سرعت همگرایی تخمین جهت‌گیری اولیه می‌شود بلکه سبب افزایش دقت آن نیز شده است.

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