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2014, vol. 64, br. 2, str. 14-20
Adaptivno prigušenje grešaka u INS/GPS/baro-altimetar integrisanom navigacijskom sistemu
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.
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jezik rada: engleski
vrsta rada: neklasifikovan
objavljen u SCIndeksu: 20.12.2015.
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