{"title":"Stochastic Estimation of Angular Orientation Parameters of a Moving Object by Inertial-Satellite Measurements","authors":"S. V. Sokolov, V. A. Pogorelov, A. L. Okhotnikov","doi":"10.3103/s8756699023050084","DOIUrl":null,"url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>The problem of angular orientation of a moving object is solved using measurements of the strapdown inertial navigation system (SINS) and the satellite navigation system (SNS) under the most general assumptions about the character of the angular motion of the object and probabilistic characteristics of noises in inertial measurements. The soltion is obtained in the form of an extended Kalman filter in which the direction cosines of rotation in an inertial coordinate system are used as estimated orientation parameters and the vector of measurements by the SNS and SINS accelerometers is used as the observation vector. An example illustrating the high stability and convergence rate of the process of estimating the chosen parameters of angular orientation of the moving object is presented.</p>","PeriodicalId":44919,"journal":{"name":"Optoelectronics Instrumentation and Data Processing","volume":"22 1","pages":""},"PeriodicalIF":0.5000,"publicationDate":"2024-03-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Optoelectronics Instrumentation and Data Processing","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.3103/s8756699023050084","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"PHYSICS, MULTIDISCIPLINARY","Score":null,"Total":0}
引用次数: 0
Abstract
The problem of angular orientation of a moving object is solved using measurements of the strapdown inertial navigation system (SINS) and the satellite navigation system (SNS) under the most general assumptions about the character of the angular motion of the object and probabilistic characteristics of noises in inertial measurements. The soltion is obtained in the form of an extended Kalman filter in which the direction cosines of rotation in an inertial coordinate system are used as estimated orientation parameters and the vector of measurements by the SNS and SINS accelerometers is used as the observation vector. An example illustrating the high stability and convergence rate of the process of estimating the chosen parameters of angular orientation of the moving object is presented.
摘要 在物体角运动特性和惯性测量噪声概率特性的最一般假设下，利用带式惯性导航系统（SINS）和卫星导航系统（SNS）的测量数据解决了运动物体的角定向问题。解法以扩展卡尔曼滤波器的形式获得，其中惯性坐标系中的旋转方向余弦被用作估计方向参数，SNS 和 SINS 加速计的测量矢量被用作观测矢量。示例说明了运动物体角方位所选参数估计过程的高稳定性和收敛速度。
期刊介绍：
The scope of Optoelectronics, Instrumentation and Data Processing encompasses, but is not restricted to, the following areas: analysis and synthesis of signals and images; artificial intelligence methods; automated measurement systems; physicotechnical foundations of micro- and optoelectronics; optical information technologies; systems and components; modelling in physicotechnical research; laser physics applications; computer networks and data transmission systems. The journal publishes original papers, reviews, and short communications in order to provide the widest possible coverage of latest research and development in its chosen field.
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