Development of a Real-Time Heuristic Algorithm to Integrate Inertial and Celestial Navigation Systems

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Abtahi, Farhad | 2013

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 45431 (45)
University: Sharif University of Technology
Department: Aerospace Engineering
Advisor(s): Nobahari, Hadi; GhanbarpourAsl, Habib
Abstract:
Unscented kalman filter is able to integrate strapdown inertial navigation system (SINS) and celestial navigation system (CNS) and estimate current attitude and gyro drift precisely. However, initial attitude error, accelerometer bias and attitude error caused by gyro drift prior to CNS setting to work may cause large errors in velocity and position. So a novel method is presented for compensating these errors. The proposed method implements Fixed-interval smoothing to the integrated system. The procedure of filtering, smoothing and accelerometer bias estimation has been explained in details. The validity of the designed method has been proved through a simulation which admits the capability of the proposed method to be implanted in long-term navigations
Keywords:
Smoothing ; Back Propagation Algorithm ; Unscented Kalman Filter ; Strapdown Inertial Navigation System ; Integration Algorithm ; Celestial Navigation System

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