یک رویکرد فیلترینگ مستقیم جدید مبتنی بر روش مدل چندگانه تعاملی در سامانه ناوبری تلفیقی سامانه موقعیت‌یاب جهانی و سامانه ناوبری اینرسی

نوع مقاله : مقاله پژوهشی

نویسندگان

دانشکده‌ی مهندسی برق، دانشگاه علم و صنعت ایران، تهران، ایران

چکیده

در این مقاله، جهت افزایش دقت ناوبری در تلفیق سامانه موقعیت‌یاب جهانی و سامانه ناوبری اینرسی، یک رویکرد فیلترینگ مستقیم جدید به نام فیلتر کالمن توسعه‌یافته ردیابی قوی تصحیح‌شده مدل چندگانه تعاملی طراحی شده است. در ساختار پیشنهادی، ضمن استفاده از معادلات ناوبری اینرسی و معادلات ردیابی به‌منظور بهبود دقت موقعیت و سرعت، برای افزایش دقت زوایای وضعیت، از روش‌های تخمین وضعیت مبتنی بر ژیروسکوپ، شتاب‌سنج و سامانه موقعیت‌یاب جهانی بهره برده شده است. همچنین، به‌منظور مقاوم‌سازی فیلتر کالمن توسعه‌یافته در مقابل خطای مدل‌سازی، از روش ردیابی قوی تصحیح‌شده استفاده شده است. سپس، روش پیشنهادی با استفاده از داده‌های جمع‌آوری‌شده در یک آزمایش میدانی واقعی توسط هواپیما راستی‌آزمایی شد و در ادامه، نتایج روش پیشنهادی با نتایج روش‌های فیلترینگ غیرمستقیم فیلتر کالمن متداول، فیلترینگ مستقیم فیلتر کالمن خنثی و فیلتر کالمن توسعه‌یافته مدل چندگانه تعاملی مقایسه شدند. نتایج به‌دست‌آمده عملکرد دقیق‌تر روش پیشنهادی را در مقایسه با سه روش قبلی در تلفیق سامانه‌های موقعیت‌یاب جهانی و ناوبری اینرسی نشان داده‌اند.

کلیدواژه‌ها

موضوعات

عنوان مقاله [English]

A New Direct Filtering Approach based on the Interactive Multiple Model Method in the Global Positioning System/Inertial Navigation System Integration

نویسندگان [English]

  • Hossein Heidary Sadrabady
  • Elahe Sadat Abdolkarimi
  • Mohammad Reza Mosavi
Department of Electrical Engineering, Iran University of Science and Technology
چکیده [English]

In this paper, to increase the navigation accuracy in the integrated Global Positioning System and Inertial Navigation System, a new direct filtering approach called Interacting Multiple Model-Refined Strong Tracking Extended Kalman Filter has been developed. In the proposed method, while using inertial navigation equations and tracking equations in order to improve the accuracy of position and velocity, to increase the accuracy of orientation, attitude estimation methods based on the gyroscope, accelerometer, and global positioning system have been used. In addition, in order to enhance the Extended Kalman Filter robustness against modeling error, the Refined Strong Tracking method has been used. The aircraft then verified the proposed method using data collected in a real field experiment. The results of the proposed method were compared with the results of the conventional indirect filtering method Kalman Filter, direct filtering Unscented Kalman Filter, and Interacting Multiple Model - Extended Kalman Filter. The results show the more accurate performance of the proposed method compared to the previous three methods in the Global Positioning System and Inertial Navigation System integration.

کلیدواژه‌ها [English]

  • Global positioning system
  • Inertial navigation system
  • Direct filtering
  • Multiple model estimate
  • Interactive multiple model

مراجع

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نشریه مهندسی مکانیک امیرکبیر
دوره 54، شماره 12
اسفند 1401
صفحه 2725-2740

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