著者

Lee Sou-Chen Liu Cheng-Yu

出版者

一般社団法人日本機械学会

雑誌

JSME international journal. Series C, Mechanical systems, machine elements and manufacturing (ISSN:13447653)

巻号頁・発行日

vol.42, no.2, pp.369-375, 1999-06-15

---

An innovation estimation scheme is conceived to solve the intial and divergent problems for an all-accelerometer inertial navigation system (INS).The reformulated unobservable system with six accelerometers mounted diagonally on each surface of a cubic is investigated.An own-ship trajectory estimator produces extra pseudo measurements in position and velocity of the vehicle to help the Kalman filter in achieving convergence subject to unknown initial values.It also provides an upperbound value for the initiation of the platform attitude.A simulation case with arbitray initial values verifies the effectiveness of using this information infusing concept in obtaining a convergent INS state estimation.