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Journal of the Korea Institute of Military Science and Technology 2001;4(1):225-233.
A Transfer Alignment Considering Measurement Time-Delay and Ship Body Flexure
You-Chol Lim, Joon Lyou
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측정치 시간지연과 선체의 유연성을 고려한 전달정렬 기법
임유철, 유준
1충남대학교 전자공학과 대학원
2충남대학교 전자공학과
Abstract
This paper deals with the transfer alignment problem of SDINS(StrapDown Inertial Navigation System) subjected to roll and pitch motions of the ship. Specifically, to reduce alignment errors induced by measurement time-delay and ship body flexure, an error compensation method is suggested based on delay state augmentation and DCM(Direction Cosine Matrix) partial matching. A linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonlinear measurement equation with respect to its time delay and augmenting the delay state into the conventional linear state equations. And then DCM partial matching is properly combined to reduce effects of a ship's Y axis flexure. The simulation results show that the suggested method is effective enough resulting in considerably less azimuth alignment errors.
Key Words: Inertial Navigation System, Transfer Alignment, Kalman Filter, Delay State Augmentation, DCM Partial Matching
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