Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Robust Observer Design for SDINS In-Flight Alignment

스트랩다운 관성항법시스템의 주행 중 정렬을 위한 강인 관측기 구성

  • Yu, Myeong-Jong (Dept.of Electric Computer Engineering, Seoul National University) ;
  • Lee, Jang-Gyu (Dept.of Electric Computer Engineering, Seoul National University) ;
  • Park, Chan-Guk (Dept.of Control Instrumentation Engineering, Kwangwoon University) ;
  • Sim, Deok-Seon (Dept.of Electronics Electric Engineering, Chungang University)
  • 유명종 (서울대학교 전기 컴퓨터공학부) ;
  • 이장규 (서울대학교 전기 컴퓨터공학부) ;
  • 박찬국 (광운대학교 제어계측공학과) ;
  • 심덕선 (중앙대학교 전자전기공학부)
  • Published : 2001.08.01
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Abstract

The nonlinear observers are proposed for a nonlinear system. To improve the characteristics such as stability, convergence, and $H^{\infty}$ filter performance criterion, we utilize an $H^{\infty}$ filter Riccati equation or a modified $H^{\infty}$ filter Riccati equation with a freedom parameter. Using the Lyapunov function method, the characteristics of the observers are analyzed. Then the in-flight alignment for a strapdown inertial navigation system(SDINS) is designed using the proposed observer. And the additive quaternion error model is especially used to reduce the uncertainty of the SDINS error model. Simulation results show that the observer with the modified $H^{\infty}$ filter Riccati equation effectively improves the performance of the in-flight alignment.

Keywords

References

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