전자공학회논문지 (Journal of the Institute of Electronics and Information Engineers)

  • 제50권1호
  • /
  • Pages.276-284
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  • 2013
  • /
  • 2287-5026(pISSN)
  • /
  • 2288-159X(eISSN)
대한전자공학회 (The Institute of Electronics and Information Engineers)
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전달정렬의 속도정합에 대한 지렛대 거리 오차의 가관측성 분석

Observability Analysis of a Lever Arm Error for Velocity Matching in Transfer Alignment

  • 양철관 (중앙대학교 전자전기공학부) ;
  • 심덕선 (중앙대학교 전자전기공학부)
  • Yang, Cheol-Kwan (School of Electrical and Electronic Engineering, Chung-Ang University) ;
  • Shim, Duk-Sun (School of Electrical and Electronic Engineering, Chung-Ang University)
  • 투고 : 2012.11.13
  • 발행 : 2013.01.25
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초록

본 논문에서는 관성항법시스템의 전달정렬시 속도정합 알고리듬에 대하여 지렛대 거리 오차의 가관측성 분석을 수행하였다. 이를 위해 지렛대 거리 오차를 포함한 칼만필터 상태 변수를 모델링하였고 측정 방정식을 구성하였다. 가관측성 분석 방법으로는 SOM을 이용하였고 다양한 항체의 운항 조건들에 대하여 가관측성 분석을 수행하였다. 기존의 지렛대 거리 오차를 포함한 가관측성 분석 기법들은 시뮬레이션을 통한 분석이 주를 이룬 반면에 본 논문에서는 상태 변수들이 완전 가관측하기 위한 항체의 운항 조건을 해석적으로 제시하였다. 그리고 시뮬레이션을 수행하여 분석 결과를 검증하였다.

This paper considers the transfer alignment in the inertial navigation system and the observability analysis is performed for velocity matching. The state variable of the Kalman filter is modeled including the lever arm error and the measurement equation is obtained. The SOM(Stripped Observability Matrix) method is used for the observability analysis for various maneuvering conditions of the vehicle, which gives the full state observability condition as a specific maneuver sequence of the vehicle. While the observability analysis of a lever arm effect in the existing papers is mainly performed by simulations, we performed it analytically by the observability analysis method. The analysis result is verified using the computer simulations.

키워드

참고문헌

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