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.

کلیدواژه‌ها


 [1]
Rogers, R. M. "Applied mathematics in integrated navigation systems", American Institute of Aeronautics and Astronautics, 2007.##
[2]
Titterton, D., Weston, J. L., and Weston, J. "Strapdown inertial navigation technology", IET, vol. 17, 2004.##
[3]
El-Sheimy, N., Nassar, S., and Noureldin, A. "Wavelet de-noising for IMU alignment", IEEE Aerospace and Electronic Systems Magazine, pp. 32-39, 2004.##
[4]
Kalman, R. E. "A new approach to linear filtering and prediction theory", Trans. ASME, J. Basic Eng,pp. 95-108, 1961.##
[5]
Jiancheng, F., and Sheng, Y. "Study on innovation adaptive EKF for in-flight alignment of airborne POS", IEEE Transactions on Instrumentation and Measurement, vol. 60, no. 4, pp. 1378-1388, 2011.##
[6]
Park, J. G., Lee, J. G., and Park, C. G. "SDINS/GPS in-flight alignment using GPS carrier phase rate", GPS Solutions, vol. 8, no. 2, pp. 74-81, 2004.##
[7]
Han, S., and Wang, J. "A novel initial alignment scheme for low-cost INS aided by GPS for land vehicle applications", The Journal of Navigation, vol. 63, no. 4, pp. 663-680, 2010.##
[8]
Zhang, Y., Luo, L., Fang, T., Li, N., and Wang, G. "An improved coarse alignment algorithm for odometer-aided SINS based on the optimization design method", Sensors, vol. 18, no. 1, p. 195, 2018.##
[9]
Gu, D., El-Sheimy, N., Hassan, T., and Syed, Z. "Coarse alignment for marine SINS using gravity in the inertial frame as a reference", In Proceedings of IEEE/ION PLANS, Monterey, California, USA, 2008.##
[10]
Silson, P. M. "Coarse alignment of a ship's strapdown inertial attitude reference system using velocity loci", IEEE Transactions on Instrumentation and Measurement, vol. 60, no. 6, pp. 1930-1941, 2011.##
[11]
Taizhong, K., Jiancheng, F., and Wei, W. "Quaternion-optimization-based in-flight alignment approach for airborne POS", IEEE Transactions on Instrumentation and Measurement, vol. 61, no. 11, pp. 2916-2923, 2012.##
[12]
Li, J., Xu, J., Chang, L., and Zha, F. "An improved optimal method for initial alignment", The Journal of Navigation, vol. 67, no. 4, pp. 727-763, 2014.##
[13]
Wu, Y., and Pan, X. "Velocity/position integration formula part I: Application to in-flight coarse alignment", IEEE Transactions on Aerospace and Electronic Systems, vol. 49, no. 2, pp. 1006-1023, 2013.##
[14]
Chang, L., Li, J., and Chen, S. "Initial alignment by attitude estimation for strapdown inertial navigation systems", IEEE Transactions on Instrumentation and Measurement, vol. 64, no. 3, pp. 784-794, 2014.##
[15]
Li, J., Song, N., Yang, G., and Jiang, R. "Fuzzy adaptive strong tracking scaled unscented Kalman filter for initial alignment of large misalignment angles", Review of Scientific Instruments, vol. 87, no. 7, p. 075118, 2016.##
[16]
Li, W., Wu, W., Wang, J., and Lu, L. "A fast SINS initial alignment scheme for underwater vehicle applications", The Journal of Navigation, vol. 66, no. 2, pp. 181-198, 2013.##
[17]
Chuanbin, Z., Weifeng, T., and Zhihua, J. "A novel method improving the alignment accuracy of a strapdown inertial navigation system on a stationary base", Measurement Science and Technology, vol. 15, no. 4, pp. 765-769, 2004.##
[18]
Wang, X. "Fast alignment and calibration algorithms for inertial navigation system", Aerospace Science and Technology, vol. 13, no. 4, pp. 204-209, 2009.##
[19]
Du, T., Guo, L., and Yang, J. "A fast initial alignment for SINS based on disturbance observer and Kalman filter", Transactions of the Institute of Measurement and Control, vol. 38, no. 10, pp. 1261-1269, 2016.##
[20]
Huang, Y., Zhang, Y., and Wang, X. "Kalman-filtering-based in-motion coarse alignment for odometer-aided SINS", IEEE Transactions on instrumentation and measurement, vol. 66, no. 12, pp. 3364-3377, 2017.##
[21]
Hou, M., and Patton, R. J. "Optimal filtering for systems with unknown inputs", IEEE transactions on Automatic Control,vol. 43, no. 3, pp. 445-449, 1998.##
[22]
Cheng, Y., Ye, H., Wang, Y., and Zhou, D. "Unbiased minimum-variance state estimation for linear systems with unknown input", Automatica,vol. 45, no. 2, pp. 485-491, 2009.##
[23]
Yong, S. Z., Zhu, M., and Frazzoli, E. "A unified filter for simultaneous input and state estimation of linear discrete-time stochastic systems", Automatica,vol. 63, pp. 321-329, 2016.##
[24]
NASH, JR, R., D'APPOLITO, J., and ROY, K. "Error analysis of hybrid aircraft inertial navigation systems", In Guidance and Control Conference, 1972.##
[25]
Cheng, G., Cao, S., Guo, L., and Chen, W. "Initial alignment of Inertial Navigation System based on a predictive iterated Kalman filter", In 37th Chinese Control Conference (CCC), Wuhan, China, 2018.##
[26]
Yang, D., Xu, X., Zhang, T., Sun, J., and Yao, Y. "A fast alignment method for SINS with large misalignment angles based on ADRC", in Integrated Communications, Navigation and Surveillance Conference (ICNS), Nanjing, China, 2017.##
[27]
Chen, Y., Li, W., Yang, H., and Xia, T. "Research on the Compensation Strategy of the Initial Alignment of the SINS Based on the Dynamic Model of the Shearer", IEEE Access, vol. 7, pp. 36736-36747, 2019.##
[28]
Xu, X., Lu, J., and Zhang, T. "A Fast-Initial Alignment Method With Angular Rate Aiding Based on Robust Kalman Filter", IEEE Access, vol. 7, pp. 51369-51378, 2019.##