دوره 14، شماره 2 - ( مجله کنترل، جلد 14، شماره 2، تابستان 1399 )
جلد 14 شماره 2,1399 صفحات 15-1 |
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Ghesmati M, Heyrani Nobari J, Arvan M, Kashaninia A. Gyroscope Drift Error Analysis in the Position-Independent Navigation Algorithm of a stable platform Inertial System. JoC 2020; 14 (2) :1-15
URL: http://joc.kntu.ac.ir/article-1-569-fa.html
URL: http://joc.kntu.ac.ir/article-1-569-fa.html
قسمتی محمد، حیرانی نوبری جعفر، عاروان محمدرضا، کاشانی نیا عبدالرضا. تحلیل خطای انحراف ژیروسکوپ در الگوریتم ناوبری مستقل از موقعیت سامانه‌ی اینرسی صفحه پایدار. مجله کنترل. 1399; 14 (2) :1-15
1- دانشگاه صنعتی مالک اشتر
2- دانشگاه صنعتی خواجه نصیرالدین طوسی
2- دانشگاه صنعتی خواجه نصیرالدین طوسی
چکیده: (8100 مشاهده)
در این مقاله خطای تعیین موقعیت یک سامانه‌ی اینرسی صفحه پایدار، در الگوریتم ناوبری مستقل از موقعیت و به ازای انحراف ثابت ژیروسکوپ، به صورت تحلیلی و عددی تعیین شده است. الگوریتم‌های ناوبری متداول از تخمین نرخ‌های موقعیت برای ساخت فرامین سرعت زاویه‌ای اعمالی به ژیروسکوپ‌ها استفاده می‌کنند، این کار نه تنها منبع اولیه‌ای برای خطای موقعیت بوده بلکه پیاده‌سازی فرامین را پیچیده می‌کند. مزیت اصلی الگوریتم ناوبری مستقل از موقعیت این است که فرامین سرعت زاویه‌ای، مستقل از موقعیت سامانه‌ی ناوبری و متناسب با انتگرال شتاب‌ها بوده و بدین ترتیب خطاهای ناشی از تخمین نرخ طول و عرض جغرافیایی به صفحه پایدار اعمال نشده و باعث خارج شدن آن از تراز و ایجاد خطا نمی‌شود. در راستای تحلیل خطای سامانه، مدل سامانه‌ی صفحه پایدار، نحوه‌ی ترازسازی صفحه و شرایط اولیه‌ی ورود به فاز ناوبری مورد بررسی قرار گرفته است. در این مقاله در شرایط سکون، رابطه‌ی خطا برای انحراف ثابت ژیروسکوپ به صورت تحلیلی بدست آمده است. رابطه‌ی این خطا بر حسب زمان از درجه‌ی یک بوده، در حالی که در سامانه‌ی متصل به بدنه از درجه‌ی سه است.
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