제어로봇시스템학회:학술대회논문집
- 1992.10a
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- Pages.401-406
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- 1992
Odometer Error Compensation Scheme for Velocity-Aided Strapdown Inertial Navigation System : The Case of Torpedo
속도보정 스트랩다운 관성항법장치의 속도계오차 처리기법 : 수중항체의 경우
- Lee, Youn-Seon (Dept. of Electronics Eng, Chungnam National Univ) ;
- Chung, Tae-Ho (Dept. of Electronics Eng, Chungnam National Univ) ;
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Lyou, Joon
(Dept. of Electronics Eng, Chungnam National Univ)
- Published : 1992.10.01
Abstract
When a velocity-aided strapdown inertial navigation system is loaded into a torpedo subjected to an extraneous force by the current, odometer measurement errors occur seriously. In order to compensate for navigation errors induced by large odometer biases, the Kalman Filter with separate bias estimator is applied, which separately estimates an unknown bias, and corrects the state estimate produced by the bias-free Kalman Filter to reflect the effect of the bias estimate.
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