FILTERING A SIGNAL FROM NOISE AT A SINS COARSE INITIAL ALIGNMENT

Volume 6, Issue 1, February 2022     |     PP. 1-14      |     PDF (907 K)    |     Pub. Date: January 14, 2022
DOI: 10.54647/isss12146    73 Downloads     6480 Views  

Author(s)

A. Zbrutsky, National technical university of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute”, Kyiv, 03056, Ukraine
V.Meleshko, National technical university of Ukraine “Igor Sikorsky Kyiv Polytechnic Institute”, Kyiv, 03056, Ukraine

Abstract
The possibilities of using the Kalman filter for cleaning (filtering) signals from gy-roscopes and accelerometers of a strapdown inertial navigation system (SINS) with a rough initial alighnment on a fixed base are considered. For this, algorithms for averaging filters with forward and backward computations (forward and backward filters) are proposed. It is shown that with a relatively short recording of the signal (30 s), in comparison with the simple average of the signal, it is possible to signifi-cantly, practically to zero, reduce the influence of the measurement noise. This is achieved by successively applying forward and then backward filters. The results were obtained both in the modeling of filtration and in the field experiment of the initial alighnment.

Keywords
strapdown inertial navigation system (SINS), Coarse initial alighnment , Kalman filter

Cite this paper
A. Zbrutsky, V.Meleshko, FILTERING A SIGNAL FROM NOISE AT A SINS COARSE INITIAL ALIGNMENT , SCIREA Journal of Information Science and Systems Science. Volume 6, Issue 1, February 2022 | PP. 1-14. 10.54647/isss12146

References

[ 1 ] D.H. Titterton and J.L. Weston, Strapdown Inertial Navigation Technology, 2nd ed. London, UK: IET, 2004, – 558 p.
[ 2 ] O. Zbrutsky, S. Lakoza, V. Meleshko, R. Chornomorets. Autonomous alignment of strapdown inertial navigation system on oscillating base. 2019 IEEE 2nd Ukraine Conference on Electrical and Computer Engineering (UKRCON). doi:10.1109/ukrcon.2019.8879993 
[ 3 ] A.A. Leonets. Systemic problems of strapdown inertial navigation systems. Part 1. Complex solution: monograph / AA Leonets. - К .: Alpha Advertising, 2018 .- 732 p.(in Russian)
[ 4 ] Greg Welch , Gary Bishop . An Introduction to the Kalman Filter. University of North Carolina, SIGGRAPH 2001, Los Angeles.
[ 5 ] Mohinder S.Grewal, Angus Andrews. Kalman filtering: theory and practice using MATLAB. California State University, Fullerton, January 2001, DOI: 10.1002/9780470377819
[ 6 ] A.N.Yakovlev. Introduction to Wavelet Transforms: A Tutorial. –Novosibirsk: Publishing house of NSTU, 2003. - 104 p. (in Russian)
[ 7 ] S.V. Moskovsky, A.N. Sergeev, N.A. Lalina. Signal cleaning from noise using wavelet transform // Universum: Technical sciences: electron. scientific. Joun. 2015. No. 2 (15).(in Russian).http://7universum.com/ru/tech/archive/item/1958
[ 8 ] El-Sheimy N., Nassar S., Noureldin A. Wavelet de-noising for IMU alignment. Aerosp. Electron. Syst. Mag. 2004, 19, 32–39.
[ 9 ] V.O. Brown, V.P. Dolgushin, V.N. Loza, I.V. Pampukha. Investigation of the possibilities and characteristics of methods for reducing the noise level in signal processing based on the use of wavelet technology. Journal of Radio Electronics (electronic journal), No. 7, 2014. P.P.
[ 10 ] A.A. Golovan, N.A. Parusnikov Mathematical foundations of navigation systems. Part 2. Application of optimal estimation methods to navigation problems. - M .: MAKS Press, 2012 .-- 172 p.(in Russian)
[ 11 ] P.S. Maybeck. Stochastic models, estimation and control. New York: Academic Press. 1979.
[ 12 ] Houzeng Han, Jian Wang, Mingyi Du. A Fast SINS Initial Alignment Method Based on RTS Forward and Backward Resolution. –Hindawi. Journal of Sensors, Volume 2017, Article ID 7161858, 11 pages. https://doi.org/10.1155/2017/7161858
[ 13 ] Haiying Liu, Xin Jiang, Guangen Gao. Application of reverse processing in SINS initial alignment and SINS/GPS integrated navigation. Aircraft Engineering and Aerospace Technology, https://doi.org/10.1108/AEAT-11-2016-0191
[ 14 ] H.Han, J.Wang, M.Du. A fast SINS initial alignment method based on RTS forward and backward resolution. Hindawi journal of sensors. Volume 2017, article, id 7161858, 11 p. doi.org/10.1155/2017/7161858