Title :
Multiposition alignment of strapdown inertial navigation system
Author :
Lee, J.G. ; Park, Chan ; Park, H.W.
Author_Institution :
Dept. of Control & Instrum. Eng., Seoul Nat. Univ.
fDate :
10/1/1993 12:00:00 AM
Abstract :
The authors demonstrate that the stationary alignment of strapdown inertial navigation system (SDINS) can be improved by employing the multiposition/technique. Using an observability analysis, it is shown that an optimal two-position alignment not only satisfies complete observability conditions but also minimizes alignment errors. This is done by analytic rank testing of the stripped observability matrix and numerical calculation of the error covariance. It is also shown that an optimal three-position alignment accelerates the convergence of the alignment error compared with two-position alignment
Keywords :
aerospace control; control system synthesis; inertial navigation; matrix algebra; observability; optimal control; position control; Kalman filter; alignment errors; analytic rank testing; error covariance; gyro error; multiposition alignment; numerical calculation; observability analysis; optimal position; optimal three-position alignment; optimal two-position alignment; stationary alignment; strapdown inertial navigation; stripped observability matrix; Acceleration; Convergence; Covariance matrix; Equations; Inertial navigation; Observability; Sensor systems; Testing; Time varying systems; Vehicles;
Journal_Title :
Aerospace and Electronic Systems, IEEE Transactions on
