관성항법장치의 초기정렬을 위한 중복 분해 필터

An overlapping decomposed filter for INS initial alignment

  • 박찬국 (서울대학교 공과대학 제어계측공학과) ;
  • 이장규 (서울대학교 공과대학 제어계측공학과)
  • 발행 : 1991.10.01

초록

An Overlapping Decomposed Filter(ODF) accomplishing an initial alignment of an INS is proposed in this paper. The proposed filter improves the observable condition and reduces the filtering computation time. Its good performance has been verified by simulation. Completely observable and controllable conditions of INS error model derived from psi-angle approach are introduced under varying sensor characteristics vary. The east components of gyro and accelerometer have to be the first order markov process and the rest of them are the characteristics of the random walk or first order markov process.

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