TRABALHOS PUBLICADOS
2007 |
In-Flight Alignment in INS-Aiding with Switched Feedforward/Feedback of Error Estimates Proceedings Article aldmann, Jacques W Resumo | Links | BibTeX | Tags: autonomous vehicles, in-flight alignment, Inertial Navigation, robotics, sensor fusion @inproceedings{Jacques2007lb,Unmanned air vehicles often resort to a low-cost inertial measurement unit (IM U) in an inertial navigation system (INS) to estimate position and velocity. Stand-alone INS operation yields unbounded estimation errors. Such behavior motivates INS aiding by auxiliary position and velocity sensors to limit navigation error. Acceleration maneuvers and IM U rotation with respect to the vehicle are used to enhance the observability of INS error dynamics, in conjunction with Kalman filter-based sensor fusion to estimate position and velocity errors, IM U misalignment and sensor errors. This work investigates feedforward and feedback of error estimates for INS aiding. Feedforward integration is used to estimate IM U misalignment and sensor errors with adequate accuracy, and then switches to feedback integration for in-flight alignment (IFA), that is INS reset and IM U calibration during operation. A M onte Carlo simulation provides evidence supporting the approach. |