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

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

The Kalman Filter Design for the Transfer Alignment by Euler Angle Matching

오일러각 정합방식의 전달정렬 칼만필터 설계

  • Published : 2001.12.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents firstly the method of Euler angle matching designing the transfer alignment using the attitude matching. In this method, the observation directly uses Euler angle difference between MINS and SINS so it needs to describe the rotation vector error to the Euler angle error. The rotation vector error related to the Euler angle error is derive from the direction cosine matrix error equation. The feasibility of the Kalman filter designed for the transfer alignment by Euler angle matching is analyzed by the alignment error results with respect to the roll angle the pitch angle, and the yaw angle matching.

Keywords

References

  1. A. Sutherland Jr., 'The Kalman filter in transfer alignment of inertial guidance system,' J. of Spacecraft, vol. 5, no. 10, pp. 1175-1180, Oct., 1968
  2. J. Deyst Jr. and A. Sutherland Jr., 'Strapdown inertial system alignment using statistical filters : simplified formulation,' AIAA J., vol. 11, pp. 452-456, Apr., 1973
  3. J. E. Kain and J. R. Cloutier, 'Rapid transfer alignment for tactical weapon application,' Proc. of the AIAA GN&C Conference, pp. 1290-1300, 1989
  4. 송기원, '유도탄 전달정렬의 구성기법 및 가관측성분석,' 국방과학연구소 MSDC-416-961123, 1996
  5. 송기원, 전창배, '속도 및 쿼터니언 부분정합 방식에 의한 전달정렬 알고리즘,' 제어.자동화.시스템 공학회 논문지, 제3권, 제3호, pp.238-243, 1997
  6. K. Spalding, 'An efficient rapid transfer alignment filter,' Proc. of the AIAA GN&C Conference, pp. 1276-1286, 1992
  7. 송기원, 전창배, '오일러각 오차와 회전벡터 오차 관계식 유도,' 제어계측.자동화.로보틱스 연구회 합동 학술발표회 논문집, pp. 217-220, 1997
  8. 박찬식, 'GPS 반송파 위성신호를 이용한 자세결정,' 공학박사학위논문, 서울대학교, 1997
  9. D. G. Meskin and I. Y. Bar-Itzhack, 'Unified approach to inertial navigation system error,' J. Guidance, Control, and Dynamics, vol. 15, pp. 648-653, 1992
  10. 임유철, 송기원, 유 준, '전달정렬 선체유연성 보상을 위한 속도 및 DCM 부분정합 방식,' 제어.자동화.시스템 공학회 논문지, 제7권, 제4호, pp. 369-373, 2001
  11. P. S. Maybeck, Stochastic Models, Estimation and Control, vol. 1, Academic Press, 1979
  12. 송기원, 'SDINS의 전달정렬 알고리즘 설계 및 성능분석,' 국방과학연구소 MSDC-416-980574, 1998