Tightly coupled SDINS/star sensor integration algorithm based on multiple star line of sight vectors다중 별 시선벡터 기반의 강결합 구조 SDINS/별센서 보정항법 알고리즘

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The purpose of this paper is to improve the accuracy of the strap-down inertial navigation system (SDINS) by utilizing the celestial information observed from a star sensor. First, precise attitude and position information calculated from the star sensor is used as a measurement of Extended Kalman Filter (EKF), and it makes possible to the overall navigation solution converged within a certain error bound. However, the loosely coupled form of integration algorithm has disadvantages of heavy computation or correlation in measurements because of the cascaded Kalman filter configuration even though it is conceptually simple to understand and robust to fault detection and isolation (FDI). Therefore, the tightly coupled form of integration algorithm is also designed to verify its effectiveness through simulation in this thesis. The proper measurement model based multiple star line of sight (LOS) vectors is induced for EKF. The determination of celestial horizon reference is performed by using the elevation and azimuth information of the observed star LOS. Finally, Matlab-based practical simulation tests are implemented to compare the two different inertial/star sensor integrated navigation architectures. The results are verified by a Monte Carlo analysis, and the performance and behavior of the each integration filter are investigated.
Advisors
Bang, Hyo Choongresearcher방효충researcher
Description
한국과학기술원 :항공우주공학과,
Publisher
한국과학기술원
Issue Date
2016
Identifier
325007
Language
eng
Description

학위논문(석사) - 한국과학기술원 : 항공우주공학과, 2016.2 ,[50 p. :]

Keywords

Tightly Coupled SDINS/Star Sensor Integration Algorithm; Celestial Navigation; Extended Kalman Filter; Star LOS (Line of sight) Vector; Strapdown Inertial Navigation System (SDINS); 강결합 구조 SDINS/별센서 복합항법 알고리즘; 천측 항법; 확장 칼만 필터; 별 시선벡터; 스트랩다운 관성항법시스템 (SDINS)

URI
http://hdl.handle.net/10203/222012
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=649736&flag=dissertation
Appears in Collection
AE-Theses_Master(석사논문)
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