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طراحی و شبیه‌سازی الگوریتم تخمینِ جهت‌گیری اولیة سامانه ناوبری اینرسی براساس فیلتر کالمن و تخمین‌گر با ورودی نامعین | ||
| مکانیک هوافضا | ||
| دوره 17، شماره 1 - شماره پیاپی 63، اردیبهشت 1400، صفحه 1-11 اصل مقاله (554.87 K) | ||
| نوع مقاله: گرایش دینامیک، ارتعاشات و کنترل | ||
| نویسندگان | ||
| سعید خان کلانتری1؛ حسن محمدخانی* 2 | ||
| 1فارغ التحصیل دانشگاه صنعتی خواجه نصیرالدین طوسی | ||
| 2استادیار دانشکده هوافضا دانشگاه امام حسین | ||
| تاریخ دریافت: 28 دی 1398، تاریخ بازنگری: 01 تیر 1399، تاریخ پذیرش: 02 خرداد 1400 | ||
| 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 | ||
| ناوبری اینرسی؛ جهت‌گیری اولیه؛ ناهم‌محوری قطبی؛ ناهم‌محوری افقی؛ فیلتر کالمن؛ تخمین حالت‌ها با ورودی نامعین | ||
| عنوان مقاله [English] | ||
| A Novel Approach for Estimating the Initial Alignment of INS based on the Kalman Filter and an Estimator with Unknown Input | ||
| نویسندگان [English] | ||
| saeed Khan Kalantary1؛ hassan mohammadkhani2 | ||
| 1Department of Electrical and Computer Engineering, K. N T University of Technology | ||
| 2imam hossein university | ||
| چکیده [English] | ||
| Accurate determination of the initial alignment for an inertial navigation system (INS), plays an important role in the accuracy of the navigation system, because inertial navigation is a blind navigation and is highly dependent on the accuracy of the initial estimation conditions. This paper presents a new method to increase accuracy and convergence speed of the initial alignment in an inertial navigation system. This new method includes two steps to estimate the initial alignment. These steps combine the Kalman method and a filter to estimate the states of a system with an uncertain input. In the first step, the estimations of horizontal misalignment angles are obtained by the Kalman filter. In the second step, the estimation which is produced by the Kalman filter, is used as an input to design an equivalent system for the INS. Finally, a filter is used to estimate the states of a system with an unknown input for the estimation of the azimuth alignment angle. Simulations show that this method not only increases the speed of estimation, but it also produces noticeable accuracy. | ||
| کلیدواژه‌ها [English] | ||
| Inertial Navigation, Initial Alignment, Azimuth Misalignment, Horizontal Misalignment, Kalman filter, State Estimation with Unknown Input | ||
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تعداد مشاهده مقاله: 308
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