دوره 14، شماره 2 - ( مجله کنترل، جلد 14، شماره 2، تابستان 1399 )
جلد 14 شماره 2,1399 صفحات 15-1 |
برگشت به فهرست نسخه ها
Download citation:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:
BibTeX | RIS | EndNote | Medlars | ProCite | Reference Manager | RefWorks
Send citation to:
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: (7101 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.
فهرست منابع
1. [1] Jekeli, C., Inertial Navigation Systems with Geodetic Applications, Walter de Gruyter, New York, 2001. [DOI:10.1515/9783110800234]
2. [2] Izmailov, E. A., "Modern tendencies in development of inertial sensors and aircraft systems", Trudy FGUP NPTs AP, Sistemy i Pribory Upravleniya, No. 1, 2010, pp. 30-43.
3. [3] Kuznetsov, A. G., Portnov, B. I., Izmailov, E. A., "Two Classes of Aircraft Strapdown Inertial Navigation Systems on Laser Gyros: Development and Test Results", Gyroscopy and Navigation, Vol. 5, No. 4, 2014, pp. 187-194. [DOI:10.1134/S2075108714040087]
4. [4] Zhang DR, Bin YE, Dang J., "Flight test performance error analysis of the platform inertial navigation system", Flight Dynamics, Vol. 29, No. 1, 2011, pp. 74-77.
5. [5] George, R., Pitman, JR., Inertial Guidance, John Wiley & Sons, New York, 1962.
6. [6] Britting, K.R., Inertial Navigation Systems Analysis, John Wiley & Sons, New York, 1971.
7. [7] Britting, K. R. "Analysis of Space Stabilized Inertial Navigation Systems", M.I.T. Experimental Astronomy Laboratory, RE-35, 1968.
8. [8] Britting, K. R. "Error Analysis of Strapdown and Local Level Inertial Systems Which Compute in Geographic Coordinates", M.I.T. Measurement Systems Laboratory, RE-52, 1969.
9. [9] Broxmeyer, C., Inertial Navigation Systems, McGraw-Hill, New York, 1964. [DOI:10.1115/1.3629763]
10. [10] Wiryadinata, R., Wahyunggoro, O., Widada, W., Sunarno, M., Santoso, I. "Modification of strapdown inertial navigation system algorithm for rocket flight test", Journal of Theoretical and Applied Information Technology, Vol. 72, No. 2, 2015, pp. 273-279.
11. [11] Zhenhuan, W., Xijun, C., Qingshuang, Z. "Comparison of strapdown inertial navigation algorithm based on rotation vector and dual quaternion", Chinese Journal of Aeronautics, Vol. 26, No. 2, 2013, pp. 442-448. [DOI:10.1016/j.cja.2013.02.022]
12. [12] Maria de Fátima Alves Nunes Bento, Development and Validation of an IMU/GPS/Galileo Integration Navigation System for UAV, PhD Thesis, University of Munich, Munich, Germany, 2013.
13. [13] MacKenzie, D. "Inventing Accuracy: A Historical Sociology of Nuclear Missile Guidance", Massachusetts Institute of Technology, 1993.
14. [14] Britting, K. R. "PACE II space-stabilized inertial navigation system", M.I.T. Instrumentation Lab., Vol. 1, No. 4, 1968.
15. [15] Wang, B., Ren, Q., Deng, Z.H., Fu, M.Y., "A self-calibration method for nonorthogonal angles between gimbals of rotational inertial navigation system", IEEE Trans. Ind. Electron., Vol. 62, No.4, 2015, pp. 2353-2362. [DOI:10.1109/TIE.2014.2361671]
16. [16] Gao, W., Zhang, Y., Wang, J.G, "Research on initial alignment and self-calibration of rotary strapdown inertial navigation systems", Sensors, Vol. 15, No. 2, 2015, pp. 3154-3171. [DOI:10.3390/s150203154]
17. [17] Fang, J., Qin, J., "Advances in atomic gyroscopes: A view from inertial navigation applications", Sensors, Vol. 12, No. 5, 2012, pp. 6331-6346. [DOI:10.3390/s120506331]
18. [18] Wang, H.G., Williams, T.C., "Strategic inertial navigation systems-High-accuracy inertially stabilized platforms for hostile environments", IEEE Control Syst., Vol. 28, No.1, 2008, pp. 65-85. [DOI:10.1109/MCS.2007.910206]
19. [19] Quan, W., Lv, L., Liu, B., "Modeling and optimizing of the random atomic spin gyroscope drift based on the atomic spin gyroscope", Rev. Sci. Instrum., Vol. 85, No. 11, 2014. [DOI:10.1063/1.4900946]
20. [20] Duan, L., Quan, W., Jiang, L., Fan, W., Ding, M., Hu, Z., Fang, J., "Common-mode noise reduction in an atomic spin gyroscope using optical differential detection", Appl. Opt., Vol. 56, No. 27, 2017, pp. 7734-7740. [DOI:10.1364/AO.56.007734]
21. [21] Zou, S., Zhang, H., Chen, X., "Modeling and filter algorithm analysis of all-optical atomic spin gyroscope's random drift", In Proceedings of the 2015 IEEE Metrology for Aerospace (MetroAeroSpace), Benevento, Italy, June 2015, pp. 207-219. [DOI:10.1109/MetroAeroSpace.2015.7180684]
22. [22] Zou, S., Zhang, H., Chen, X., Chen, Y., Fang, J., "A novel calibration method research of the scale factor for the all-optical atomic spin inertial measurement device", J. Opt. Soc. Korea, Vol. 19, No.4, 2015, pp. 415-420. [DOI:10.3807/JOSK.2015.19.4.415]
23. [23] Jiang, L., Quan, W., Li, R., Duan, L., Fan, W., Wang, Z., Liu, F., Xing, L., Fang, J., "Suppression of the cross-talk effect in a dual-axis K-Rb-21Ne comagnetometer", Phys. Rev. A, Vol. 95, No. 6, 2017. [DOI:10.1103/PhysRevA.95.062103]
24. [24] Qingzhong, C., Gongliu, Y., Wei, Q., Ningfang, S., Yongqiang, Tu., Yiliang, L., "Error Analysis of the K-Rb-21Ne Comagnetometer Space-Stable Inertial Navigation System", Sensors, Vol. 18, No. 2, 2018. [DOI:10.3390/s18020670]
25. [25] Gao, Z., Error Propagation Property of Inertial Navigation System. In Inertial Navigation System Technology, Tsinghua University Press, Beijing, China, 2012.
26. [26] Wu, Q., Han, F, "New optimal approach to space-stable inertial navigation system", In Proceedings of the 2011 10th International Conference on Electronic Measurement & Instruments (ICEMI), Chengdu, China, August 2011, pp. 296-299.
27. [27] Kim, M.S., Yu, S.B., Lee, W.S., "Development of a high-precision calibration method for inertial measurement unit", Int. J. Precis. Eng. Manuf., Vol. 15, No. 3, 2016, pp. 567-575. [DOI:10.1007/s12541-014-0372-3]
28. [28] Yuan, B.L., Liao, D., Han, S.L., "Error compensation of an optical gyro INS by multi-axis rotation", Meas. Sci. Technol., Vol. 23, No. 2, 2012. [DOI:10.1088/0957-0233/23/2/025102]
29. [29] Song, N.F., Cai, Q.Z., Yang, G.L., Yin, H.L., "Analysis and calibration of the mounting errors between inertial measurement unit and turntable in dual-axis rotational inertial navigation system", Meas. Sci. Technol.. Vol. 24, No. 11, 2013. [DOI:10.1088/0957-0233/24/11/115002]
30. [30] Nie, Q., Gao, X.Y., Liu, Z., "Research on accuracy improvement of INS with continuous rotation", In Proceedings of the IEEE International Conference on Information and Automation, Zhuhai, China, June 2009, pp. 849-853.
31. [31] Gao, Y.B., Guan, L.W., Wang, T.J., Kuang, H., "Position accuracy analysis for single-axis rotary FSINS", Chin. J. Sci. Instrum., Vol. 35, 2014, pp. 794-800.
32. [32] Liu, F., Wang, W., Wang, L., Feng, P.D., "Error analyses and calibration methods with accelerometers for optical angle encoder in rotational inertial navigation systems", Appl. Opt., Vol. 52, No. 32, 2013, pp. 7724-7731. [DOI:10.1364/AO.52.007724]
33. [33] Ren, Q., Wang, B., Deng, Z.H., Fu, M.Y., "A multi-position self-calibration method for dual-axis rotational inertial navigation system", Sens. Actuators A Phys., Vol. 219, No. 3, 2014, pp. 24-31. [DOI:10.1016/j.sna.2014.08.011]
34. [34] Zhang, Q., Wang, L., Liu, Z., Feng, P., "An Accurate Calibration Method Based on Velocity in a Rotational Inertial Navigation System", Sensors, Vol. 15, 2015, pp. 18443-18458. [DOI:10.3390/s150818443]
35. [35] Hao, Y., Gong, J., Gao, W., and Li, L. "Research on the dynamic error of strapdown inertial navigation system", in Proceedings of the IEEE International Conference on Mechatronics and Automation (ICMA '08), 2008, pp. 814-819.
36. [36] Gomez-Estern, F., and Gordillo, F. "Error analysis in strapdown INS for aircraft assembly lines", in Proceedings of the 10th International Conference on Control, Automation, Robotics and Vision (ICARCV '08), 2008, pp. 184-189. [DOI:10.1109/ICARCV.2008.4795514]
37. [37] Gao, W., Cao, B., Ben, Y., and Xu, B. "Analysis of gyro's slope drift affecting inertial navigation system error", in Proceedings of the IEEE International Conference on Mechatronics and Automation (ICMA '09), 2009, pp. 3757-3762.
38. [38] Musoff, H., and Murphy, J. H. "Study of strapdown navigation attitude algorithms", Journal of Guidance, Control, and Dynamics, Vol. 18, No. 2, 1995, pp. 287-290. [DOI:10.2514/3.21382]
39. [39] Wang, J., Gu, H. "Compensation algorithm of device error for rate strapdown inertial navigation system", in Proceedings of the 1st International Conference on Intelligent Networks and Intelligent Systems (ICINIS '08), 2008, pp. 667-670. [DOI:10.1109/ICINIS.2008.137]
40. [40] Qiao, Y.-H., Liu, Y., Su, B.-K., and Zeng, M. "Test method for error model coefficients of pendulous integrating gyro accelerometer on centrifuge", Journal of Astronautics, Vol. 28, No. 4, 2007, pp. 854-931.
41. [41] Huang, C., Yi, G., Zen, Q., "Accuracy Evaluation Method of Stable Platform Inertial Navigation System Based on Quantum Neural Network", NeuroQuantology, Vol. 16, No. 6, 2018, 613-618. [DOI:10.14704/nq.2018.16.6.1569]
42. [42] Grewal, M. S., Henderson, V. D., Miyasako, R. S. "Application of Kalman Filtering to the Calibration and Alignment of Inertial Navigation Systems", IEEE Trans. Automat. Contr., Vol. 36, No. 1, 1991. [DOI:10.1109/9.62283]
43. [43] کارساز علی، خالوزاده حمید، "آناليز خطاي يک سيستم كنترل آتش خاص"، مجله کنترل، دوره 1، شماره 1، زمستان 1385، صفحات 55 تا 68
ارسال پیام به نویسنده مسئول
| بازنشر اطلاعات | |
 |
این مقاله تحت شرایط Creative Commons Attribution-NonCommercial 4.0 International License قابل بازنشر است. |
