Initial alignment of strap down inertial navigation system using Kalman filter

Fuquan, Gao; Chuan-hong, Ding; Jianfeng, Liu

doi:10.1109/iccasm.2010.5620546

Cited by 4 publications

(2 citation statements)

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“…Hence, for the purpose of improving the robustness of the breaking system, the study of fault detection and fault tolerant control of sensors in EMB actuator is especially important. In the previous studies of sensor fault detection, one kind of kalman filter was designed and published by Gao [3] which could detect sensor's fault effectively. However, such a method is suitable for liner system only.…”

Section: Introductionmentioning

confidence: 99%

Research of Sensor Fault-Tolerant Control Based on CSA-SVR Algorithm for EMB Actuator System

Wang¹,

Xu²,

Xu³

et al. 2015

IJMO

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Abstract-The electro mechanical brake (EMB) system is a efficient pure electric vehicle braking system in where technologies in the fields of electronics, mechanics, and vehicle communication network were considered at the same time. Because that offered information to the electronic control of the EMB system is taken from several detectors, during developments of the pure electric vehicle, unsolved difficulties in EMB system are the accurate fault detection as well as the timely process of a fault tolerant control. In this paper, the fault detection and the fault tolerant control on the mathematical models of a current, a speed, and a pressure detector loaded on the EMB actuator system will be studied. Based on the three-loop control architecture model of the EMB actuator, these models of detectors are constructed by the method of the dynamics analysis of the actuating agency respectively. On the purpose of improving the accuracy of fault detection, the clonal selection -support vector regression algorithm (CSA-SVR) is proposed, which is a combination of CSA and SVR calculation methods. Through CSA-SVR algorithm, optimized parameters of support vector machine (SVM) and improved accuracy of fault detection are obtained. The adaptive fault tolerant control architectural model mentioned which is designed using CSA-SVR algorithm in this paper shows effective function in fault detection, isolation from fault, and fault estimation.Index Terms-Electro mechanical brake, fault diagnosis, fault reconstruction, support vector machine, clonal selection algorithm.

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Section: Introductionmentioning

confidence: 99%

Research of Sensor Fault-Tolerant Control Based on CSA-SVR Algorithm for EMB Actuator System

Wang¹,

Xu²,

Xu³

et al. 2015

IJMO

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“…Here, sensor drift countered by lever arm effect compensation is proposed to improve navigation performance. Kalman filters (Fuquan et al, (2010) ;Titterton, (2004); Ali and Ushaq, (2009);Hide et al, (2003) and Pehlivanoglu and Ercan, (2013)) have been widely used to compute the online estimation of sensor drift to achieve further compensation to improve alignment accuracy. In this paper, the harmful disturbing acceleration caused by lever arm effect is firstly filtered with a Finite Impulse Response (FIR) filter, and a rough attitude matrix is provided through inertial freezing alignment with the compensation of lever arm effect error.…”

Section: Introductionmentioning

confidence: 99%

An Improved Initial Alignment Method for Rocket Navigation Systems

Zhu

Cheng

2013

J. Navigation

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This paper proposes an algorithm for the initial alignment method for rocket navigation systems. It uses the inertial freezing alignment to resolve the attitude matrix with respect to its fast and robust characteristics. Due to disturbances from the swaying base environment, such as people walking and wind effect, which would consequently result in a great lever arm effect, a Finite Impulse Response (FIR) filter is utilized to decrease the noise in the accelerometers' measurement. In addition, there are sensor errors in the system; the online estimation of gyroscopes' drift with a Kalman filter is adopted to achieve compensation. Numerical results from a simulated rocket initial alignment experiment are reported to demonstrate the effectiveness of the method.2. Lever arm effect. 3. FIR filter. 4. Rocket Navigation system.

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Research on improved fine alignment methods

Wang

Chen

2019

IOP Conf. Ser.: Mater. Sci. Eng.

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Initial alignment of strap down inertial navigation system using Kalman filter

Cited by 4 publications

References 0 publications

Research of Sensor Fault-Tolerant Control Based on CSA-SVR Algorithm for EMB Actuator System

Research of Sensor Fault-Tolerant Control Based on CSA-SVR Algorithm for EMB Actuator System

An Improved Initial Alignment Method for Rocket Navigation Systems

Research on improved fine alignment methods

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