Design and Implementation of a Real-time Heuristic Algorithm for In-Motion Alignment of a Strapdown Inertial Navigation System

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Ashrafifar, Asghar | 2010

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 42694 (45)
University: Sharif University of Technology
Department: Aerospace Engineering
Advisor(s): Bahari, Hadi
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 filter needs less number of particles than particle filter, while it can achieve better performance with respect to unscented particle filter. Finally, real-time simulation in both in-motion and stationary alignment for this filter is done
Keywords:
Particle Filter ; Real Time Implementation ; Initial Alignment System ; Strapdown Inertial Navigation System ; Heuristic Algorithm

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