تخمین سریع جهت‌گیری اولیه ناوبری اینرسی براساس فیلتر کالمن و مشاهده‌گر مود لغزشی مرتبه بالا

نوع مقاله : مقاله پژوهشی

نویسندگان

1 دانشکده برق، دانشگاه خواجه نصیرالدین طوسی، تهران، ایران

2 دانشکده برق، دانشگاه تربیت مدرس

3 دانشکده مهندسی مکانیک، دانشگاه امام حسین، تهران، ایران،

4 دانشکده هوا فضا، دانشگاه امام حسین، تهران، ایران

چکیده

سیستم ناوبری اینرسی یک سیستم ناوبری کور بوده و دقت آن کاملا به دقت تخمین شرایط اولیه و به‌ویژه جهت‌گیری اولیه وابسته است، به همین دلیل تعیین دقیق جهت‌گیری اولیه در یک سیستم ناوبری اینرسی بسیار مهم است. در این مقاله یک روش جدید برای افزایش دقت و سرعت همگرایی جهت‌گیری اولیه در یک سیستم ناوبری اینرسی ارائه شده است. روش ارائه‌شده در این مقاله یک روش دو مرحله‌ای است که شامل تلفیق فیلتر کالمن با مشاهده‌گر مود لغزشی مرتبه بالا می‌باشد. در سیستم ناوبری اینرسی خطاهای ترازیابی بسیار سریع‌تر از خطای زاویه سمت همگرا می‌شوند، بنابراین همگرایی زاویه سمت زمان زیادی را به زمان تخمین جهت‌گیری اولیه تحمیل می‌کند.  به همین دلیل در این مقاله در مرحله اول به کمک فیلتر کالمن متغیرهای حالت سیستم تخمین زده می‌شوند و پس از آنکه متغیرهای حالت به جز زاویه سمت همگرا شدند، مرحله دوم آغاز می‌شود. در مرحله دوم نتایج تخمین حاصل از فیلتر کالمن به‌عنوان ورودی برای تعریف یک سیستم با ورودی نامعین، معادل با سیستم خطای ناوبری اینرسی به کار برده شده و با استفاده از مشاهده‌گر مود لغزشی مرتبه بالا، متغیر زاویه سمت، از سیستم جدید با ورودی نامعین تخمین زده می‌شود. نتایج شبیه‌سازی نشان می‌دهد که استفاده از روش ارائه‌شده در این مقاله علاوه بر افزایش سرعت همگرایی باعث افزایش دقت تخمین نیز می‌شود.

کلیدواژه‌ها

موضوعات


عنوان مقاله [English]

Fast initial alignment for inertial navigation system based on high order sliding mode observer and Kalman filter

نویسندگان [English]

  • Saeed khankalantary 1
  • ;azem heidari 2
  • mohsen hajizadeh 3
  • hasan mohammadkhani 4
1 Department of Electrical and Computer Engineering, khaje nasir University.
2 faculty of electrical engineering, tarbiat modares university
3 Department of Mechanical Engineering, Imam Hossein University, Tehran, Iran.
4 Department of Aerospace Engineering, Imam Hossein University.
چکیده [English]

The inertial navigation system is a dead reckoning system, thus initial alignment for an inertial navigation system plays an important role in the accuracy of it. In this paper, a novel approach for initial alignment in an inertial navigation system with increased speed and accuracy is proposed. This method has two stages, which integrates the Kalman filter and a high order sliding mode observer. In the inertial navigation system, leveling misalignment angles reach the steady-state faster than the azimuth misalignment angle does, which means the azimuth alignment takes a considerable time for initial alignment. Therefore, in this paper at the first stage estimations of state variables of the system are obtained using the Kalman filter and whenever all variables (except azimuth alignment) reach steady-state, the second stage begins. In the second stage, the estimation which is obtained by the Kalman filter is used as the input to design an equivalent system with unknown inputs for inertial navigation system. A high-order sliding mode observer is then used to estimate the states of a system with an unknown input for estimating the azimuth alignment angle. This method not only increases the speed of estimation but also has comparable accuracy.

کلیدواژه‌ها [English]

  • Inertial Navigation
  • Initial alignment
  • Azimuth misalignment
  • Kalman Filter
  • High order sliding mode observer
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