نوع مقاله : علمی-پژوهشی
نویسندگان
1 دانشگاه صنعتی سهند
2 عضو هیات علمی/ دانشگاه صنعتی سهند
3 عضو هیات علمی دانشگاه صنعتی سهند، گروه کنترل دانشکده مهندسی برق
4 دانشگاه علم و صنعت ایران
چکیده
کلیدواژهها
موضوعات
عنوان مقاله [English]
نویسندگان [English]
In many applications, especially military applications, the inertial navigation system (INS) needs to achieve a high level of accuracy in a short time. For alignment, recursive estimator filters and, in non-linear cases, the Extended Kalman Filter (EKF) is often used. The dynamics of a real, continuous system and the output of the sensors are available discretely. Therefore, a hybrid filter has been used. In addition, a robust filter is used to increase the reliability of system operation. In this paper, a Hybrid Extended Kalman Filter (HEKF) is presented and then upgraded to the Hybrid Robust Extended Kalman Filter (HREKF). By running the algorithm on the data of a real system, it was observed that the speed of convergence increased especially in the yaw direction. By running the algorithm on the data of a real system, it was observed that the speed of convergence has increased especially in the yaw direction. Finally, using the impulsive system approach, a new stability analysis of the proposed algorithms is presented, which guarantees the boundedness of the error estimation, which is unique.
کلیدواژهها [English]
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