Error Estimation on Wander Frame for SINS Ground Alignment Through Observability Analysis | ||||
| International Conference on Aerospace Sciences and Aviation Technology | ||||
| Article 31, Volume 17, AEROSPACE SCIENCES & AVIATION TECHNOLOGY, ASAT - 17 – April 11 - 13, 2017, April 2017, Page 1-15 PDF (954.27 K) | ||||
| Document Type: Original Article | ||||
| DOI: 10.21608/asat.2017.22457 | ||||
 View on SCiNiTO | ||||
| Authors | ||||
| Hadia M. S. EL- Hennawy1; Ibrahim I. Arafa2; Alaa M. Fekry2 | ||||
| 1Ain Shams University, Cairo, Egypt. | ||||
| 2Egyptian Armed Forces, Egypt. | ||||
| Abstract | ||||
| This paper presents a novel alignment method based on wander frame for SINS (strap down inertial navigation system) whose initial attitude information is completely unknown. During the course mode, the cosine and sine of the wander angle is defined as the filter states, and modeled as the velocity/position error in the geographic frame. Azimuth error state in the fine mode of the filter is defined as wander angle error to provide continuous estimation of navigation states. A systematic analysis of the Observability of a strap down inertial navigation system (SINS) in ground alignment with Bar-Itzhack and Berman’s error model is presented. It is shown that the unobservable states are separately contained in two de-coupled subspaces. The constraints on the selection of unobservable states are discussed. An estimation algorithm, which is derived fully from the horizontal velocity outputs for computing the misalignment angles, is provided. It reveals that the azimuth error can be entirely estimated from the estimates of leveling error and leveling error rate, without using gyro output signals explicitly. This paper also, estimates the errors of a strap down inertial navigation systems by using appropriate Kalman filter design. | ||||
| Keywords | ||||
| Inertial Navigation Systems and Kalman Filtering; Inertial Guidance Systems | ||||
|
Statistics Article View: 433 PDF Download: 4,317 |
||||
