제어로봇시스템학회:학술대회논문집
- 2001.10a
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- Pages.177.3-177
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- 2001
Design of In-Motion Alignment System of SDINS using Robust EKF
- Hong, Hyun-Su (Seoul National Univ.) ;
- Lee, Jang-Gyu (Seoul National Univ.) ;
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Park, Chan-Gook
(Kwangwoon Univ.)
- Published : 2001.10.01
Abstract
In this paper, the design of the in-motion alignment system of Strapdown Inertial Navigation System(SDINS) using Robust Extended Kalman Filter(REKF) is presented. The compensation of errors in the aided navigation system is accomplished by the indirect feedback filtering. The performance of the aided navigation algorithm is very sensitive to the accuracy of the initial estimate, which is the characteristic of the EKF. Unfortunately, the initial attitude error can be very large during the in-motion alignment. To overcome the in-motion alignment under large initial attitude error problem, the REKF using linear robust filtering technique is proposed. The linear robust H
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