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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، بهمن 2016، صفحه 81-92 اصل مقاله (1.49 M) | ||
| نوع مقاله: Research Article | ||
| 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. | ||
| کلیدواژهها | ||
| 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 fathi1؛ 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 [English] | ||
| 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. | ||
| کلیدواژهها [English] | ||
| Adaptive Kalman Filter, Inertial Navigation, in-flight alignment, Radar | ||
| مراجع | ||
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