Loading...
Search for:
bahari--hadi
0.004 seconds
Design and Implementation of a Real-time Heuristic Algorithm for In-Motion Alignment of a Strapdown Inertial Navigation System
, M.Sc. Thesis Sharif University of Technology ; Bahari, Hadi (Supervisor)
Abstract
In this work, the in-motion estimation of Euler angles of a strapdown inertial navigation system is studied using a speedometer, as an aided navigation sensor. First, the derivation of governing error equations has been done. Then, the most appropriate heuristic filters available in references have been chosen for this study. Among this filters, unscented particle filter, that has better performance and conditions for the real-time implementation, has been chosen. Then, an innovative solution for improving the performance of this filter is presented. The proposed filter uses particle swarm optimization to resample the particles. The proposed...