STOCHASTIC ESTIMATION OF ANGULAR ORIENTATION PARAMETERS OF A MOVING OBJECT BY INERTIAL-SATELLITE MEASUREMENTS
S.V. Sokolov1, V.A. Pogorelov1, A. L. Okhotnikov2
1Moscow Technical University of Communications and Informatics, Rostov-on-Don, Russia
2Research and Design Institute of Informatization, Automation and Communication by Railway Transport, Moscow, Russia
Keywords: angular orientation, moving object, SINS, SNS, directional, cosines, extended Kalman filter
Abstract
The problem of angular orientation of a moving object using measurements of a strapless inertial navigation system (SINS) and a satellite navigation system (SNS) is solved in the general formulation with the most general assumptions about the nature of the angular motion of the object and the probabilistic characteristics of interference from inertial measurements. The solution is obtained in the form of an extended Kalman filter using the directional cosines of rotation in the inertial coordinate system as the estimated orientation parameters, and the vector of measurements of the SNC and the accelerometers of the BINC as the observation vector. An example is given illustrating the high stability and convergence rate of the process of estimating the selected parameters of the angular orientation of a moving object.
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