제어로봇시스템학회:학술대회논문집

제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

속도보정 스트랩다운 관성항법장치의 속도계오차 처리기법 : 수중항체의 경우

Odometer Error Compensation Scheme for Velocity-Aided Strapdown Inertial Navigation System : The Case of Torpedo

  • 이윤선 (충남대학교 전자공학과) ;
  • 정태호 (충남대학교 전자공학과) ;
  • 유준 (충남대학교 전자공학과)
  • Lee, Youn-Seon (Dept. of Electronics Eng, Chungnam National Univ) ;
  • Chung, Tae-Ho (Dept. of Electronics Eng, Chungnam National Univ) ;
  • Lyou, Joon (Dept. of Electronics Eng, Chungnam National Univ)
  • 발행 : 1992.10.01
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초록

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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