Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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A Leveling Algorithm for Strapdown Inertial Navigation System Using Extended Kalman Filter

화장칼만필터를 이용한 스티랩다운 관성항법시스템의 수평축 정렬 알고리즘

  • 홍현수 (서울대학교 전기.컴퓨터공학부) ;
  • 박찬국 (광운대학교 제어계측공학과) ;
  • 한형석 (경원대학교 전기전자공학부) ;
  • 이장규 (서울대학교 전기.컴퓨터공학부)
  • Published : 2001.01.01
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Abstract

This paper presents a new leveling algorithm that estimates the initial horizontal angles composed of roll angle and pitch angle for a moving or stationary vehicle. The system model of the EKF is designed by linearizing the nonlinear Euler angle differential equation. The measurement models are designed for the moving case and for the stationary case, respectively. The simulation results show that the leveling algorithm is ade-quate not only for acquiring the initial horizontal angles of the vehicle in the motion with acceleration and rotation but also for the stationary one.

Keywords

References

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