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2014, vol. 64, br. 2, str. 14-20
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Adaptivno prigušenje grešaka u INS/GPS/baro-altimetar integrisanom navigacijskom sistemu
Adaptive error damping in the vertical channel of the Ins/Gps/Baro-altimeter integrated navigation system
aUniverzitet odbrane, Vojna akademija, Beograd
bSerbia and Montenegro Air Traffic Services SMATSA, Belgrade
Projekat: Rentabilni izbor novih tehnologija i koncepcija odbrane kroz društvene promene i strateške orijentacije Srbije u 21. veku (MPNTR - 47029)
Sažetak
U inercijalnim navigacijskim sistemima (INS) greška visine divergira eksponencijalno, a naročito kod senzora niske klase tačnosti. Radi otklanjanja divergencije greške visine, upotrebljeni su sistem globalnog pozicioniranja (GPS) i barometarski visinomer (baro-visinomer). U ovom radu je opisano prigušenje grešaka vertikalnog kanala integrisanog navigacijskog sistema INS/GPS i baro-visinomera pomoću petlje trećeg reda za stabilizaciju vertikalnog kanala i uz primenu adaptivnih koeficijenata za prigušenje grešaka. Integracija je urađena pomoću proširenog Kalmanovog filtra (PKF) sa kontrolnim signalom. Karakteristike predloženog modela su analizirane pomoću simulacije i eksperimentalno, pomoću vozila. Rezultati izvedene analize pokazuju da navigacijsko rešenje INS/GPS /baro-visinomer navigacijskog sistema može da poboljša tačnost primenom adaptivnih kontrolnih koeficijenata greške u kontrolnom signalu PKF.
Abstract
In the inertial navigation system (INS), the altitude error diverges exponentially, especially in low-cost sensors. To suppress divergence of the altitude error, a Global Positioning System (GPS) receiver and a barometric altimeter (baro-altimeter) are utilized. This paper describes the error dumping of the vertical channel in the integrated navigation system INS/GPS and the baro-altimeter by using the 3rd order vertical channel damping loop and the application of the adaptive error damp coefficients. The integration is done with an extended Kalman filter (EKF) with control signals. The characteristics of the proposed model for the integration of the INS, the GPS and the baro-altimeter were analyzed by a computer simulation as well as experimentally, using a vehicle. The results of the analysis show that the navigation solutions of the INS/GPS/Baroaltimeter navigation system could improve the accuracy with the adaptive error control coefficients in the EKF control signal.
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