제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of transfer alignment algorithm in ship of horizontal axis attitude motion

수평축 자세운동이 있는 배에서의 전달정렬 알고리즘 설계

  • 송기원 (국방과학연구소) ;
  • 전창배 (국방과학연구소) ;
  • 김현백 (국방과학연구소) ;
  • 유준 (충남대학교 전자공학과)
  • Published : 1996.10.01
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Abstract

This paper presents algorithm including Kalman filter for transfer alignment of velocity and quaternion matching method, when master inertial navigation system is a gimbled type and slave inertial navigation system is a strapdown type on a cruising ship which is naturally in motion of horizontal axis attitude. And relative attitudes are considered on a measurement equation for quaternion matching between master INS and slave INS.

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