Development of an Intelligent and Hybrid Scheme for Rapid INS Alignment

• 발행기관: 한국항해항만학회
• 저자명: Yun-Wen Huang Kai-Wei Chiang
• 간행물 정보: 『한국항해항만학회 학술대회논문집』2006년도 International Symposium on GPS/GNSS Vol.1, 1~6쪽, 전체 6쪽
• 주제분류: 공학 > 해양공학
• 파일형태: PDF
• 발행일자: 2006.10.24

영문 초록

This article propose a new idea of developing a hybrid scheme to achieve faster INS alignment with higher accuracy using a novel procedure to estimate the initial attitude angles that combines a Kalman filter and Adaptive Neuro- Fuzzy Inference System architecture. A tactical grade inertial measurement unit was applied to verify the performance of proposed scheme in this study. The preliminary results indicated the outstanding improvements in both time consumption for fine alignment process and accuracy of estimated attitude angles, especially in heading angles. In general, the improvement in terms of time consumption and the accuracy of estimated attitude estimated accuracy reached 80% and 70% respectively during alignment process after compensating the attitude angles estimated by an extended Kalman filter with 15 states using proposed approach. It is worth mentioned that the proposed approach can be implemented in general real time navigation applications.

목차

1. Introduction

2. Mechanization and Optimal Estimation of INS

3. Concepts of Fuzzy Logic and ANFIS

4. Proposed Hybrid Scheme

5. Experimental Result of Proposed Scheme

6. Conclusion

키워드

INS alignment Kalman filter fuzzy logic