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H ∞ Control Theory in SINS Initial Alignment

= Accounts for u = 0.005. / H; 7 『v = 7 ? = 0.0001m / s to take a 0.01-0.01m / s of zero mean is 0.4O0.2 share 0-0.2 such a 0.401/RtanL/R tan a 2/2sin + tan1000001000001000001000001,[link widoczny dla zalogowanych], H = a / R002/2sin + tan0kl00k0000000000k300k00 state noise and the period of a hundred 10s, the amplitude of 0.01m / s and the sine signal; (-ODE, O.) dN,[link widoczny dla zalogowanych], du get a 0.0001. A 0.0001. / H, percentage of zero mean normal noise. The simulation results shown in Figure 1 (0-60s is the first order filter for the leveling process). It can be seen from the simulation curve, the controller status stabilized, although the two horizontal convergence misalignment angle quickly, but very poor noise reduction capabilities, the azimuth misalignment angle is completely divergent. It can be seen, the initial aim of the controller design is invalid. By the principle of strapdown inertial navigation system shows, the East to the gyro drift and accelerometer bias the two can not be observed, is not observable to estimate the re-design is not the sins of the initial shaking of the next base generalized quasi-controlled model, the modified G = _,. O0OO0OlOOOOOlOOOOOOOO0OOO000000000000100 No. 6 Weifeng Juan, et al: H Control Theory in SINS Initial Alignment. 81. , O Carpenter ?, s (a】 East to the misalignment angle control results, o Carpenter U_l-t / s (b) North to the misalignment angle control results, o ? / s (c) the azimuth misalignment angle control results in Figure 2 modified controller after the misalignment angle control results Fig.2Thecontrolresultsofthemisalignmentanglesaftercorrection re-design of the controller,[link widoczny dla zalogowanych], conditions change, the simulation results shown in the figure (0 ~ 60s is the first order filter for the leveling process). The simulation curve see that the level of misalignment angle quickly converge to the theoretical value of the azimuth misalignment angle over time can converge back. and good noise suppression. So, this controller can be used as fine alignment after the coarse alignment to .3 Conclusion The application of design and analysis above shows that, if for no observable drift eastward and two accelerometers were observed when the bias caused by inaccurate estimates of state variables, and can not achieve the required performance. improved The controller fine alignment, you can quickly make the system achieve the desired alignment accuracy, and can inhibit most of the noise. This advantage of the alignment can be fine-line correction of leveling position,[link widoczny dla zalogowanych], greatly reducing the Alignment time, and this method overcomes the shortcomings of the Kalman filter divergence, convergence is both time and noise suppression obtained after considering the optimal controller. It is simple,[link widoczny dla zalogowanych], embedded in the compiled application experiments conducted SINS chamber test achieved good results. References: [1] Xue-book, Zhong Yisheng. day control theory [M]. Beijing: Tsinghua University Press, 1994. [2] Wang Jin. Day and Date Control Theory [M]. Harbin: Harbin Institute of Technology Press, 2001. [3] Vander both the Housing built. Inertial Navigation Alignment [M]. Nanjing: Southeast University Press, 1998. [4] Zhang Shuxia, Sun Jing . strapdown inertial navigation system [M]. Beijing: National Defence Industry Press, 1992 .. [5] DOYLEJ.StatespacesolutionstostandardH / Hcontrolproblems [J]. IEEETransonAC, 1989 ( Cool

:20-25. [6] rrII1RTONDH, WESTONJL . Strapdownine ~ iMnay.igationtechnology [M]. London: PeterPerenusLtd, 1997. [7] Wang Yandong Yue-Zu Fan. at the filter and its application in INS [J]. Aerospace Control, 2000,18 (3) :27-31. [8] Fang Jiancheng Zhu Shiping. A new inertial navigation system on stationary base Fast Initial Alignment Method [J]. Beijing University of Aeronautics, 1999,25 (6) :728-731. [9] Cheng added Bin, Yan-Hua Zhang . SINS initial alignment at optimal design [J]. Systems Engineering and Electronics, 1997,19 (9) :1-3. [Editor: Liu Yuming]

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