DOI QR코드

DOI QR Code

Adaptive Kalman Filter Design for an Alignment System with Unknown Sway Disturbance

Kim, Jong-Kwon;Woo, Gui-Aee;Cho, Kyeum-Rae

  • 발행 : 2002.05.30

초록

The initial alignment of inertial platform for navigation system was considered. An adaptive filtering technique is developed for the system with unknown and varying sway disturbance. It is assumed that the random sway motion is the second order ARMA(Auto Regressive Moving Average) model and performed parameter identification for unknown parameters. Designed adaptive filter contain both a Kalman filter and a self-tuning filter. This filtering system can automatically adapt to varying environmental conditions. To verify the robustness of the filtering system, the computer simulation was performed with unknown and varying sway disturbance.

키워드

Initial alignment;sway disturbance;ARMA(Auto Regressive Moving Average) Model;Kalman filter;self-tuning filter

참고문헌

  1. Cannon, R. H., 1961, "Alignment of Inertial guidance Systems by Gyro-compassing Linear Theory", Journal of the Aerospace Sciences, Vol.28, pp, 885-895 https://doi.org/10.2514/8.9230
  2. Winter, H., 1962, "The Modelling Error Sensitivity of Digital Filter for the Alignment of Inertial Platforms", AGARD Conference Proceeding, No. 116, papers 21C-1-21C-15
  3. Parvin, R. H., 1962, "Inertial Navigation Systems; Prelaunch Alignment", IRE Trans. on Aerospace Navigational Electronics, pp. 141-145
  4. Vathsal, S., 1986, "Design and Simulation of Closed-Loop Ground Alignment of Inertial Platforms with Sway Motion", Journal of Guidance, Vol. 9 No3, pp. 332-338 https://doi.org/10.2514/3.20110
  5. Panuska, V., 1980, "A new form of the extended Kalman filter for parameter estimation in linear systems with correlated noises', IEEE Trans. Automatic Control, Vol. AC-25, pp. 229-235
  6. Hagander, P and Wittenmark, B., 1977, "A Self-tuning filter for fixed-lag smoothing", IEEE Trans. Inform. Theory, Vol. IT-23, pp. 377-384
  7. Fung, P. T. and Grimble, M. J., 1983, "Dynamic Ship Positioning Using a Self-Tuning Kalman Filter", IEEE Trans. on Automatic Control, Vol. AC-28, No.3, pp. 339-349
  8. Brown, R. G., 1991, Random Signal Analysis and Kalman Filtering, John Wiley & Sons, New York, pp. 296-326