Alignment of Inertial Navigation System Using PID-Control
DOI:
https://doi.org/10.20535/1810-0546.2015.5.51602Keywords:
Inertial navigation system, Gyroscope, Accelerometer, Gyrostabilized platform, Alignment, Gyrocompassing, PID-controlAbstract
Background. Alignment of inertial navigation system has vital importance to inertial navigation system, because precision navigation depends on the process time and alignment error.
Objective. The purpose of our paper is to research possibility to use PID-control for initial alignment of inertial navigation system. Two alignment modes – leveling and gyrocompassing of platform are discussed.
Methods. Literature review on alignment and state of problem are considered in the first part – introduction. The second part of the paper presents details of standard gyrostabilized platform leveling by scheme “accelerometer–gyroscope–platform”. In the third part a possibility to use PID-control for coarse leveling by “accelerometer–platform” scheme is discussed. Gyrocompassing mode is the subject of the last fourth part.
Results. Calculation formulas for determining the coefficients of the PID control, dynamic and precision characteristics of gyrocompassing mode for gyroscope proportional control law are obtained. The results of computational modeling of the process of leveling for multiple selection criteria of the coefficients of the PID-control are brought.
Conclusions. It is concluded that using of standard Butterworth forms and integral criterion of minimum weighted error module allows us to bring and provide the necessary precision. Using the PID-control for the coarse leveling mode ensures the necessary control process quality.
References
A.H. Lipton, Alignment of Inertial Systems on a Moving Base.WashingtonD.C.: NASA, 1967, 178 p.
D.S. Pelpor, Gyroscopic Systems. Gyro Instruments and Systems. Мoscow, USSR: Vyshaya Shkola, 1988, 424. (in Russian).
V.V. Meleshko, Inertial Navigation Systems. Initial Alignment. Kyiv, Ukraine: Korneychuk, 1999, 126 p. (in Russian).
V.Z. Gusinskiy et al., “Alignment and calibration of inertial navigation system with multidimensional error model of inertial sensors”, in 4th Int. Conf. Integrated Navigation Systems,St. Petersburg,Russia: State Research Center Elektropribor, 1997, pp. 27–41 (in Russian).
S.P. Dmitriyev et al., “Nonlinear filtering methods: application in INS alignment”, IEEE Trans. Aerospace Electronic Systems, vol. 33, no. 1, 1997, pp. 260–271.
V.V. Kovalenko, Compact Inertial System: Teaching Aid.Cheliabinsk,Russia, 2010, 53 p. (in Russian).
D.H. Titterton and J.L. Weston, Strapdown Inertial Navigation Technology (IEE Radar, Sonar, Navigation and Avionics, Ser. 17).Stevenage: Institution of Electrical Engineers 2004, 558 p.
A. Jamshaid and J. Fang. Alignment of Strapdown Inertial Navigation System: A Literature Survey Spanned Over the Last 14 Years [Online]. Avaliable: ftp://labattmot.ele.ita.br/ele/alessandro/Leitura/04%20-%20PAPERS/ARTIGOS/KALMAN/kalmanlib/StrapdownAlignment.pdf
J.G.Parket al., “The enhancement of INS alignment using GPS measurements”, IEEE Position Location and Navigation Symposium, 1998, pp. 534–540.
D. Yang et al., “Performance enhancement of large-ship transfer alignment: a moving horizon approach”, J. Navigation, 66, pp. 17–33, 2013.
M. Wu et al., “Optimization-based alignment for inertial navigation systems: Theory and algorithm”, Aerospace Sci. Technol., vol. 15, pp. 1–17, 2011.
S. Han and J. Wang, “A novel initial alignment scheme for low-cost INS aided by GPS for land vehicle applications”, J. Navigation, vol. 63, pp. 663–680, 2010.
Y. Tang et al., “INS/GPS integration: global observability analysis”, IEEE Trans. Vehicular Technol., vol. 58, pp. 1129–1142, 2009.
S. Hong et al., “Observability measures and their application to GPS/INS”, IEEE Trans. Vehicular Technol., vol. 57, pp. 97–106, 2008.
R.C. Dorf and R.H. Bishop, Modern Control Systems.Moscow,USSR: Laboratorija Bazovyh Znanij, 2004, 832 p. (in Russian).
N.T. Kuzovkov, Modal Control and Observers. Moscow, USSR: Mashinostroenie, 1976, 184 p. (in Russian).
Downloads
Published
Issue
Section
License
Copyright (c) 2017 NTUU KPI Authors who publish with this journal agree to the following terms:- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under CC BY 4.0 that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work
