| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 7125672 | Measurement | 2014 | 9 Pages |
Abstract
The direct accurate measurement of lever arm in an integration of Strapdown Inertial Navigation System/Global Positioning System (SINS/GPS) is difficult for airborne applications. In this paper, the lever arm was estimated by KF in taking-off stage, sensing-task stage, landing-over stage, respectively. The estimation precision of lever arm in taking-off stage can be up to 2Â cm, which is better than that in other flying stages. According to known observability analysis conclusions, the optimal angular maneuver occurred in taking-off stage, which is most suitable for lever arm estimation. To exceed the estimation precision based on KF, two smoothing methods including Rauch-Tung-Striebel smoother (RTSS) and two-filter smoother (TFS) were developed for precise lever arm estimation. Both RTSS and TFS were applied to the taking-off stage and a millimeter's estimation precision of lever arm was acquired, which improves the estimation precision by an order of magnitude.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Yanhai Ma, Jiancheng Fang, Jianli Li,