پیوندهای مفید
آمار
| تعداد نشریات | 9 |
| تعداد شمارهها | 447 |
| تعداد مقالات | 5,734 |
| تعداد مشاهده مقاله | 8,047,202 |
| تعداد دریافت فایل اصل مقاله | 6,547,393 |
Transfer Alignment Configuration Based on Angular Velocity and Angular Velocity Integral Applied to Marine Vehicles | ||
| AUT Journal of Modeling and Simulation | ||
| مقاله 3، دوره 54، شماره 1، شهریور 2022، صفحه 31-44 اصل مقاله (1.68 M) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22060/miscj.2022.21010.5268 | ||
| نویسندگان | ||
| Mostafa Amuei1؛ Seyyed Mohammad Mehdi Dehghan* 1؛ Hossien Nourmohammadi2؛ Mohammad Ali AlirezaPouri2 | ||
| 1Faculty of Electrical and Computer Engineering, Malek-Ashtar University of technology, Tehran, Iran | ||
| 2Northern Reasearch Center for Science and Technology, Malek-Ashtar University of technology, Fereydunkenar, Mazandaran | ||
| چکیده | ||
| Transfer alignment of master and slave systems plays a key role in the inertial navigation accuracy of the marine cooperative vehicles. Accuracy enhancement of misalignment angle and orientation estimation is the main purpose of the transfer alignment. Velocity and orientation matching is a well-known method for transfer alignment. However, in many applications, there are no velocity measurements of both the master and slave systems due to weight, dimensional and technological limitations of accurate speed sensors, such as Doppler Velocity Loggers (DVL). Angular velocity configuration is a suitable solution for transfer alignment in this situation. However, the orientation error cannot be estimated in this configuration. Taking this drawback into account, a new configuration based on using the integral of angular velocity in addition to angular velocity measurement is presented for transfer alignment in the current research. Furthermore, appropriate abilities are considered to estimate the dynamic misalignment angle, orientation error and also measurement errors of the slave gyroscope. Two linear and non-linear observation models are developed for the transfer alignment configuration. The simulation results reveal the appropriate performance of the proposed configuration for marine application, especially when there are no accurate velocity measurements. Based on the simulation results, the performance of the non-linear observation model is better than linear ones in dynamic misalignment angle estimation. Moreover, it can be inferred from the orientation error estimation that rich data in high-maneuvered motion is necessary for required estimation accuracy. Additionally, 200 runs of Monte-Carlo simulation are developed and the estimation RMSE are presented. | ||
| کلیدواژهها | ||
| Transfer alignment؛ angular velocity matching؛ integral angular velocity matching؛ Kalman filter؛ misalignment angle | ||
| مراجع | ||
|
[1] Xiaorong, S. and S. Yongzhu. Angular rate matching method for shipboard transfer alignment based on H∞ filter. in 2011 6th IEEE Conference on Industrial Electronics and Applications. 2011. IEEE.
[2] Song, L., Z. Duan, and J. Sun, Application of Filter on the Angular Rate Matching in the Transfer Alignment. Discrete Dynamics in Nature and Society, 2016.
[3]Majeed, S. and J. Fang. Performance improvement of angular rate matching shipboard transfer alignment. in 2009 9th International Conference on Electronic Measurement & Instruments. 2009. IEEE.
[4] Amuei. M., Dehghan. S.M.M., Nourmohammadi. H., Design and simulation of transfer alignment algorithm at sea with angular velocity configuration. in 10th Majlesi Conference on Electrical Engineering. 2021. (in Persian)
[5]Liu, X., et al. Ship-borne transfer alignment under low maneuver. in Applied Mechanics and Materials. 2012. Trans Tech Publ.
[6]Geng, C., et al. Real-time Estimation of Dynamic Lever Arm Effect of Transfer Alignment for Wing’s Elastic Deformation. in 2018 IEEE/ION Position, Location and Navigation Symposium (PLANS). 2018.
[7]Cao, Q., M. Zhong, and J. Guo, Non-linear estimation of the flexural lever arm for transfer alignment of airborne distributed position and orientation system. IET Radar, Sonar & Navigation, 2017. 11(1): p. 41-51.
[8]Liu, X., et al. Rapid alignment method of INS with large initial azimuth uncertainty under complex dynamic disturbances. in Proceedings of 2012 UKACC International Conference on Control. 2012. IEEE.
[9] Song, L., et al. Application of Federated and Fuzzy Adaptive Filter on the Velocity and Angular Rate Matching in the Transfer Alignment. in International Conference on Intelligent Robotics and Applications. 2015. Springer.
[10] Yong-Jun, W., X. Jing-Shuo, and Y. Tao. Application of velocity plus fixed axial angular velocity match method in transfer alignment of SINS based on the moving base. in 2021 4th International Conference on Advanced Electronic Materials, Computers and Software Engineering (AEMCSE). 2021. IEEE.
[11]Chen, Weina, et al. Adaptive transfer alignment method based on the observability analysis for airborne pod strapdown Inertial Navigation System. Scientific Reports 12.1 (2022): 1-14.
[12] Yuksel, Y. Design and analysis of transfer alignment algorithm. Middle East Technical University, MS Thesis (2005).
[13]Yang, Ping, Xiyuan Chen, and Junwei Wang. Decoupling of airborne dynamic bending deformation angle and its application in the high-accuracy transfer alignment process. Sensors 19.1 (2019): 214.
[14] Nourmohammadi, H. and J. Keighobadi, Decentralized INS/GNSS system with MEMS-grade inertial sensors using QR-factorized CKF. IEEE Sensors Journal, 17 (11) (2017) p. 3278-3287.
[15]Chattaraj, S., A. Mukherjee, and S. Chaudhuri, Transfer alignment problem: Algorithms and design issues. Gyroscopy and navigation, 4 (3) (2013) p. 130-146.
[16] Gong, X. and L. Chen, A conditional cubature Kalman filter and its application to transfer alignment of distributed position and orientation system. Aerospace Science and Technology, 95 (2019) p. 105405.
[17]Rahimi, H., A.A. Nikkhah, and K. Hooshmandi, A fast alignment of marine strapdown Inertial Navigation System based on adaptive unscented Kalman Filter. Transactions of the Institute of Measurement and Control, 43 (4) (2021) p. 749-758.
[18]Xu, G., et al., A Computationally Efficient Variational Adaptive Kalman Filter for Transfer Alignment. IEEE Sensors Journal, 20 (22) (2020) p. 13682-13693.
[19] Milanchian, H., J. Keighobadi, and H. Nourmohammadi, Magnetic calibration of three-axis strapdown magnetometers for applications in MEMS attitude-heading reference systems. AUT Journal of Modeling and Simulation, 47 (1) (2015) p. 55-65.
[20] Wang, Y., et al. Research of transfer alignment for airborne distributed inertial attitude measurement system. in 3rd International Conference on Electric and Electronics. 2013. Atlantis Press.
[21]Nourmohammadi, H. and J. Keighobadi, Integration scheme for SINS/GPS system based on vertical channel decomposition and in-motion alignment. AUT Journal of Modeling and Simulation, 50 (1) (2018) p. 13-22.
[22]Gonzalez, R., J.I. Giribet, and H.D. Patino, NaveGo: A simulation framework for low-cost integrated navigation systems. Journal of Control Engineering and Applied Informatics, 17 (2) (2015) p. 110-120. | ||
|
آمار تعداد مشاهده مقاله: 454 تعداد دریافت فایل اصل مقاله: 482 |
||