Journal of the Korea Institute of Military Science and Technology (한국군사과학기술학회지)

The Korea Institute of Military Science and Technology (한국군사과학기술학회)
권호 표지
DOI QR코드

DOI QR Code

Performance Analysis in Disturbance on Initial Alignment of Laser Inertial Navigation System Using Unscented Kalman Filter

UKF를 적용한 레이저 관성항법장치의 외란에 대한 초기정렬 성능분석

  • Oh, Juhyun (The 3rd Research and Development Institute, Agency for Defense Development)
  • 오주현 (국방과학연구소 제3기술연구본부)
  • Received : 2014.02.14
  • Accepted : 2014.06.13
  • Published : 2014.08.05
Download PDF
⟨ Previous Next ⟩

Abstract

RLG(Ring Laser Gyroscope) is a main device of LINS(Laser Inertial Navigation System). RLG has the lock-in region in which there is no output signal. To alleviate the lock-in problem, a mechanical oscillation, the dither motion, is applied on RLG. A LPF(Low Pass Filter) is usually used on the output of RLG and accelerometer to remove the noise that is made by the dither motion. When the LINS is induced the disturbance during the initial alignment, it takes more time on alignment due to the use of the LPF and a fixed gain controller. In this paper, an initial alignment using UKF(Unscented Kalman Filter) is designed and analysed. Analysis include comparison between conventional initial alignment loop using fixed gain type controller and proposed initial alignment using UKF. Moreover, Disturbance inducing test results are demonstrated.

Keywords

References

  1. H. Kim, C. Kim, and T. Lee, "Performance Analysis on the Initial Alignment of Laser Inertial Navigation System," Journal of the Korea Institute of Military Science and Technology, Vol. 12, No. 5, pp. 622-635, 2009.
  2. Kenneth R. Britting, "Inertial Navigation Systems Analysis," John Wiley & Sons, Inc., 1971.
  3. D. H. Titterton and J. L. Weston, "Strapdown Inertial Navigation Technology," IEE Radar, Sonar, Navigation and Avionics Series, 1977.
  4. G. M. Siouris, "Aerospace Avionics Systems," Academic Press, Inc., 1993.
  5. Oleg S. Salychev, "Inertial Systems in Navigation and Geophysics," Bauman MSTU Press, Moscow, 1998.
  6. G. M. Siouirs, "Aerospace Avionics Systems, A Modern Synthesis," Academic Press, 1993.
  7. Y. F. Jiang, Y. P. Lin, "Error Estimation of Ground Alignment to Arbitrary Azimuth," AIAA, 1993.
  8. K. R. Britting, T. Palsson, "Self-Alignment Techniques for Strapdown Inertial Navigation Systems with Aircraft Application," J. Aircraft, Vol. 7, No. 4, pp. 302-307, 1968.
  9. H. Yu, et. al., "Study on In-Flight Alignment Using a Tightly-Coupled INS/GPS Integration," KIMST Annual Conference Proceedings, 2007. 8. 16.
  10. H. Yu, et. al., "Comparison of Extended and Unscented Kalman Filter for In-Flight Alignment," KIMST Annual Conference Proceedings, 2012. 6. 7.