Multiposition alignment of strapdown inertial navigation system

Author

Lee, J.G. ; Park, Chan ; Park, H.W.

Author_Institution

Dept. of Control & Instrum. Eng., Seoul Nat. Univ.

Volume

29

Issue

4

fYear

1993

fDate

10/1/1993 12:00:00 AM

Firstpage

1323

Lastpage

1328

Abstract

The authors demonstrate that the stationary alignment of strapdown inertial navigation system (SDINS) can be improved by employing the multiposition/technique. Using an observability analysis, it is shown that an optimal two-position alignment not only satisfies complete observability conditions but also minimizes alignment errors. This is done by analytic rank testing of the stripped observability matrix and numerical calculation of the error covariance. It is also shown that an optimal three-position alignment accelerates the convergence of the alignment error compared with two-position alignment

Keywords

aerospace control; control system synthesis; inertial navigation; matrix algebra; observability; optimal control; position control; Kalman filter; alignment errors; analytic rank testing; error covariance; gyro error; multiposition alignment; numerical calculation; observability analysis; optimal position; optimal three-position alignment; optimal two-position alignment; stationary alignment; strapdown inertial navigation; stripped observability matrix; Acceleration; Convergence; Covariance matrix; Equations; Inertial navigation; Observability; Sensor systems; Testing; Time varying systems; Vehicles;

fLanguage

English

Journal_Title

Aerospace and Electronic Systems, IEEE Transactions on

Publisher

ieee

ISSN

0018-9251

Type

jour

DOI

10.1109/7.259535

Filename

259535