Observer Based Controller Design for Strapdown Inertial Navigation System

S. Lu. R. Zhang, M. Guo, S. Lin

Abstract:	In this paper, some important problems of Strapdown Inertial Navigation System (SINS) are formulated as observer based controller (OBC) design problems. The large azimuth angle error problem in alignment and integrated navigation can be easily solved by this method. The nonlinear dynamics of SINS error state are stabilized by OBC. Sufficient conditions for the Lyapunov stability of the augmented system are given and verified. A universal framework for the design of SINS error damping algorithm is proposed. First, use the Kalman filter as an observer in OBC to stabilize the system. Then, design an OBC with segmented gain to improve the performance of the system. Experiment results of several applications, such as initial alignment of navigation grade SINS and low cost MEMS INS/GPS integration, are given to verify the efficiency of our methodology.
Published in:	Proceedings of the 2011 International Technical Meeting of The Institute of Navigation January 24 - 26, 2011 Catamaran Resort Hotel San Diego, CA
Pages:	786 - 800
Cite this article:	Zhang, S. Lu. R., Guo, M., Lin, S., "Observer Based Controller Design for Strapdown Inertial Navigation System," Proceedings of the 2011 International Technical Meeting of The Institute of Navigation, San Diego, CA, January 2011, pp. 786-800.
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