DocumentCode :
2898263
Title :
Sensor alignment Kalman filters for inertial stabilization systems
Author :
Stimac, L.W. ; Kennedy, Thomas A.
Author_Institution :
Smiths Ind., Grand Rapids, MI, USA
fYear :
1992
fDate :
23-27 Mar 1992
Firstpage :
321
Lastpage :
334
Abstract :
To achieve a particular set of motion compensation requirements and transfer alignment requirements a device called a motion sensor subsystem (MSS) was developed. The MSS is a strapdown inertial navigation system coupled with two decentralized Kalman filters that perform transfer alignment and estimation of various SINS instrument errors and system angular misalignments. One Kalman filter transfer aligns the MSS to the master navigator and the other filter estimates and corrects the misalignments between the MSS instrument axes and the sensor axes. The design, simulation, implementation, and flight testing of the MSS are described. These filters are coupled together through a process called regeneration that transfers one filter´s shared state estimate to the other. In addition, because the filters operate in a closed-loop system, the computational time delay incurred by the filters significantly affects loop stability. A method of providing loop stability is discussed. The results of the MSS flight test have shown that using a methodology for developing a large Kalman filter based on intensive system covariance analysis and Monte Carlo simulation yields a system design that meets requirements
Keywords :
Kalman filters; Monte Carlo methods; aerospace testing; detectors; digital filters; inertial navigation; stability; Kalman filters; Monte Carlo simulation; closed-loop system; computational time delay; design; flight testing; inertial stabilization systems; loop stability; master navigator; misalignments correction; misalignments estimation; motion compensation; motion sensor subsystem; regeneration; sensor alignment; strapdown inertial navigation system; system covariance analysis; transfer alignment; Aerospace simulation; Computational modeling; Filters; Inertial navigation; Instruments; Motion compensation; Sensor systems; Silicon compounds; Stability; Testing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Position Location and Navigation Symposium, 1992. Record. 500 Years After Columbus - Navigation Challenges of Tomorrow. IEEE PLANS '92., IEEE
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-0468-3
Type :
conf
DOI :
10.1109/PLANS.1992.185861
Filename :
185861
Link To Document :
بازگشت