Journal of the Korea Institute of Military Science and Technology (한국군사과학기술학회지)
- Volume 4 Issue 1
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- Pages.225-233
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- 2001
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- 1598-9127(pISSN)
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- 2636-0640(eISSN)
A Transfer Alignment Considering Measurement Time-Delay and Ship Body Flexure
측정치 시간지연과 선체의 유연성을 고려한 전달정렬 기법
Abstract
This paper deals with the transfer alignment problem of SDINS(StrapDown Inertial Navigation System) subjected to roll and pitch motions of the ship. Specifically, to reduce alignment errors induced by measurement time-delay and ship body flexure, an error compensation method is suggested based on delay state augmentation and DCM(Direction Cosine Matrix) partial matching. A linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonlinear measurement equation with respect to its time delay and augmenting the delay state into the conventional linear state equations. And then DCM partial matching is properly combined to reduce effects of a ship's Y axis flexure. The simulation results show that the suggested method is effective enough resulting in considerably less azimuth alignment errors.
Keywords
- Inertial Navigation System;
- Transfer Alignment;
- Kalman Filter;
- Delay State Augmentation;
- DCM Partial Matching
- 관성항법장치;
- 전달정렬;
- 칼만필터;
- 지연상태병합;
- 방향코사인 행렬 부분정합;