Adaptive Fusion of Inertial Navigation System and Tracking Radar Data

fathi, mahdi; Ghahramani, Nematollah; Ashtiani, Mohammad Ali; Mohammadi, Ali; Fallah, Mohsen

doi:10.22060/eej.2016.818

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Adaptive Fusion of Inertial Navigation System and Tracking Radar Data

AUT Journal of Electrical Engineering

مقاله 3، دوره 48، شماره 2، زمستان 2016، صفحه 81-92 اصل مقاله (1529 K)

نوع مقاله: Research Paper

شناسه دیجیتال (DOI): 10.22060/eej.2016.818

نویسندگان

mahdi fathi

¹؛ Nematollah Ghahramani²؛ Mohammad Ali Ashtiani³؛ Ali Mohammadi⁴؛ Mohsen Fallah⁵

¹Ph.D. Candidate, Department of Aerospace Engineering-Flight Mechanics and Control Group, Malek Ashtar University of Technology

²Associate Professor, Department of Electrical Engineering-Control Group, Malek Ashtar University of Technology

³Associate Professor, Department of Aerospace Engineering-Flight Mechanics and Control Group, Malek Ashtar University of Technology

⁴Assistant Professor, Department of Electrical Engineering-Control Group, Malek Ashtar University of Technology

⁵Assistant Professor, Department of Electrical Engineering-Communication Group, Malek Ashtar University of Technology

چکیده

Against the range-dependent accuracy of the tracking radar measurements including range, elevation and bearing angles, a new hybrid adaptive Kalman filter is proposed to enhance the performance of the radar aided strapdown inertial navigation system (INS/Radar). This filter involves the concept of residual-based adaptive estimation and adaptive fading Kalman filter and tunes dynamically the filter parameters including the fading factors and the measurement and process noises scaling factors based on the ratio of the actual residual covariance to the theoretical one. In fact, due to the unknown and fast-varying statistical parameters of the radar measurement noises and their nonlinear characteristics, applying a conventional Kalman filter to INS/Radar data fusion yields a low performance navigation and in-flight alignment. The Monte Carlo simulation results of the integrated navigation system on an interceptor missile trajectory indicate the new algorithm has an effective performance in face of nonlinearities and uncertainties of the tracking radar measurements. these results allow to know whether the fine in-flight alignment and high performance navigation can be possible for the long-range air defense missile using the low-cost INS/Radar system without aiding global navigation satellite system signals or not.

کلیدواژه ها

Adaptive Kalman Filter؛ Inertial Navigation؛ in-flight alignment؛ Radar

عنوان مقاله [English]

Adaptive Fusion of Inertial Navigation System and Tracking Radar Data

نویسندگان [English]

mahdi fathi, Nematollah Ghahramani, Mohammad Ali Ashtiani, Ali Mohammadi, Mohsen Fallah

چکیده [English]

کلیدواژه ها [English]

Adaptive Kalman Filter, Inertial Navigation, in-flight alignment, Radar

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