Abstract
This paper deals with the transfer alignment problem of strap-down inertial navigation systems (SDINS), using electro-magnetic (EM) log velocity information and gyrocompass attitude information of the ship. Major error sources for velocity and attitude matching are lever-arm effect, measurement time-delay, and ship-body flexure (flexibility). To reduce these alignment errors, an error compensation method based on delay state augmentation and DCM (direction cosine matrix) partial matching is devised. A linearized error model for a velocity and attitude matching transfer alignment system is devised by first linearizing the nonlinear measurement equation with respect to its time delay, and augmenting the delay state into conventional linear state equations. DCM partial matching is then properly combined with velocity matching to reduce the effects of a ship’s Y-axis flexure. The simulation results show that this method decreases azimuth alignment errors considerably.
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This paper was recommended for publication in revised form by Associate Editor Kyongsu Yi
Joon Lyou received a B.S. degree in Electronics Engineering from Seoul National University in 1978. He then went on to receive M.S. and Ph.D. degrees from KAIST in 1980 and 1984, respectively. Dr. Lyou is currently a professor of the Department of Electronics Engineering at Chungnam National University in Daejeon, Korea. His research interests include industrial control and sensor signal processing, IT based robotics, and navigation systems.
You-Chol Lim received a B.S. degree in Electronics Engineering from Chungnam National University in 1998. He then received his M.S. and Ph.D. degrees from Chungnam National University in 2000 and 2003, respectively. Dr. Lim is currently a senior researcher at Electronics Department KSLV Technology Division at KARI in Daejeon, Korea. Dr. Lim’s research interests are in the area of remote control, digital filter, and navigation systems.
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Joon, L., You-Chol, L. Transfer alignment considering measurement time delay and ship body flexure. J Mech Sci Technol 23, 195–203 (2009). https://doi.org/10.1007/s12206-008-0821-y
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DOI: https://doi.org/10.1007/s12206-008-0821-y