پیوندهای مفید
آمار
| تعداد نشریات | 8 |
| تعداد شماره‌ها | 430 |
| تعداد مقالات | 5,597 |
| تعداد مشاهده مقاله | 7,071,489 |
| تعداد دریافت فایل اصل مقاله | 6,031,952 |
Online Error Estimation of Inertial Measurement Unit in Transfer Alignment Problem | ||
| AUT Journal of Modeling and Simulation | ||
| دوره 56، شماره 2، 2024، صفحه 199-208 اصل مقاله (1.31 M) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22060/miscj.2025.23614.5391 | ||
| نویسندگان | ||
| Reza Soltani Nejad؛ Hamed Mohammadkarimi* ؛ Abolghasem Naghash | ||
| Department of Aerospace Engineering, Amirkabir University of Technology, Tehran, IRAN. | ||
| چکیده | ||
| The presence of bias in low-cost inertial sensors has always been a fundamental problem in the estimation of Euler angles. The transfer alignment technique involves using two sets of sensors: a set of low-cost sensors (which may have significant bias) and a set of high-accuracy sensors (which provide reliable data). By comparing the outputs of these two sets, the biases in the low-cost sensors can be estimated and corrected. To achieve this goal, it is necessary to obtain the difference between the master and slave frames. The “master frame” typically refers to the coordinate system defined by the high-accuracy sensors, while the “slave frame” refers to the coordinate system defined by the low-cost sensors. In this article, the method of small rotation angles is used to calculate this difference between the two frames. This article proposes a new alignment algorithm that is both fast and accurate. The biases of accelerometers and gyroscopes can be rapidly estimated and compensated for. The alignment discussed in this article is conducted during motion, which is more complex than stationary mode estimation. The desired maneuver in this study is a constant acceleration maneuver, where the biases of both the accelerometer and gyroscope are well estimated. For other maneuvers, gyroscope biases may not be accurately estimated, while accelerometer biases are generally well estimated. The estimated biases for accelerometers and gyroscopes are often noisy due to errors in the inertial sensors; therefore, preprocessing filtering is also performed to estimate the biases smoothly. | ||
| کلیدواژه‌ها | ||
| Inertial Navigation System؛ In-motion Alignment؛ Transfer Alignment؛ Bias Compensation؛ Small Rotation Angles | ||
| مراجع | ||
|
[1] R. M. Rogers, Applied Mathematics in Integrated Navigation Systems, Gainesville, Florida: American Institute of Aeronautics and Astronautics (AIAA), 2007.
[2] W. Li, W. Wu, J. Wang, and L. Lu, “A Fast SINS Initial Alignment Scheme for Underwater Vehicle Applications,” The Journal Of Navigation, vol. 66, p. 181–198, 2012.
[3] A. Ramanandan, A. Chen and J. Farrell, “Inertial navigation aiding by stationary updates,” Intelligent Transportation Systems, IEEE Transactions on 13.1, pp. 235-248, 2012.
[4] F. O. Silva, W. C. L. Filho, and E. M. Hemerly, “Design of a Stationary Self-Alignment Algorithm for Strapdown Inertial,” in International Federation of Automatic Control, 2015.
[5] Cheng Ma, Shiyin Zhou, “In-motion fine alignment algorithm for AUV based on improved extended state observer and Kalman filter”, DOI:10.1088/1361-6501/ ad7876, September 2024
[6] Jun Li, Shifeng Zhang, Huabo Yang, Zhenyu Jiang, Xibin Bai, “Fast Alignment and Calibration of Rotational Inertial System Based on Bilinear Embedding”, Page(s): 10700 – 10713, IEEE Sensors Journal ( Volume: 24, Issue: 7, 01 April 2024)
[7] L. Zhu and X. Cheng, “An Improved Initial Alignment Method for Rocket Navigation Systems,” The Journal Of Navigation, vol. 66, p. 737–749, 2013.
[8] F. O. Silva, E. M. Hemerly, and W. C. L. Filho, “Error Analysis of Analytical Coarse Alignment Formulations for Stationary SINS,” IEEE Transactions On Aerospace And Electronic Systems, Vols. 52, No.4, 2016.
[9] F. O. E. Silva, E. M. Hemerly, W. d. C. L. Filho, and R. A.J. Chagas, “An Improved Stationary Fine Self-Alignment Approach for SINS Using Measurement Augmentation,” in Anais do XX Congresso Brasileiro de Automática, Belo Horizonte, 2014.
[10] H. Li, Q. Pan, X. Wang, X. Jiang and L. Deng, “Kalman Filter Design for Initial Precision Alignment of a Strapdown Inertial Navigation System on a Rocking Base,” The Journal of Navigation, vol. 68, pp. 184-195, 2014.
[11] J. Li, J. Xu, L. Chang, and F. Zha, “An Improved Optimal Method for Initial Alignment,” The Journal Of Navigation, vol. 67, pp. 727-736, 2014.
[12] C. G. Park and J. G. Lee, “An overlapping decomposed filter for INS initial alignment,” Journal of the Korean Society for Aeronautical and Space Sciences 19.3, pp. 65-76, 1991.
[13] W. Gao, Y. Zhang, and J. Wang, “Research on Initial Alignment and Self-Calibration of Rotary Strapdown Inertial Navigation Systems,” Sensors, vol. 15, pp. 3154 3171, 2015.
[14] Jianhua Cheng, Jing Cai, Zhenmin Wang, And Jiaxin Liu, “A Novel Polar Rapid Transfer Alignment For Shipborne Sins Under Arbitrary Misalignments”, Volume 8, 2020
[15] J Yang, X Wang, B Wang, X Hu ,” A high-accuracy system model and accuracy evaluation method for transfer alignment ”, Measurement Science and Technology, 2024
[16] J Yang, X Wang, X Ji, X Hu, G Nie ,” A new high accuracy transfer alignment method for distributed INS on moving base ”, Measurement Volume 227, March 2024
[17] Laetitia Tosoni, Minh Tu Pham, Paolo Massioni, Elliot Broussard. Rapid transfer alignment for large and time varying attitude misalignment angles. IEEE Control Systems Letters, 2023, pp.1-6. ff10.1109.
[18] P. H. Zipfel, Modeling and simulation of aerospace vehicle dynamics, AIAA, 2007
[19] M. A. Amiri Atashgah, Hamed Mohammadkarimi, Mehrdad Ebrahimi,” A fast strapdown gyrocompassing algorithm based on INS differential errors”, Scientific Reports volume 13, Article number: 15297 (2023) | ||
|
آمار تعداد مشاهده مقاله: 303 تعداد دریافت فایل اصل مقاله: 226 |
||