Title :
Adaptive Corrective Alignment for a Carouseling Strapdown INS
Author_Institution :
Delco Systems Operation, 6767 Hollister Avenue, Goleta, California 93117; Visiting Lecturer, Department of Electrical & Computer Engineering, University of California, Santa Barbara, CA 93106.
Abstract :
A corrective alignment technique is developed for a carouseling strapdown INS. The implementation corrects the body to geographic coordinate frame transformation for angular disturbances. The carousel induced modulation enables a Kalman filter to optimally separate IMU attitude from the instrument error sources. A NLE of the angular disturbance spectral density is made in order that optimal weighting can be applied to the angular velocity observation process relative to the corrective alignment plant process.
Keywords :
Angular velocity; Coordinate measuring machines; Covariance matrix; Density measurement; Earth; Force measurement; Instruments; Rotation measurement; Symmetric matrices; Velocity measurement;
Conference_Titel :
American Control Conference, 1984
Conference_Location :
San Diego, CA, USA
