Mathematical models are developed for the misalignment equations of a ship's inertial navigation system following restart after a complete shutdown at sea. Thes hips manoeuvres are modelled as stochastic processes andt hemi salignment is presented as a linearised stochastic process, which can be controlled by the gyro torqueing currents. The misalignment is observed by accelerometers, assuming base motion isolation, augmented by the "ships log' ( a measure of velocity). The alignment is treated as a discrete stochastic linear regulator problem, using a Kalman-Bucy filter. Simulation results show that good alignment can be achieved in about an hour, but a time-varying estimator must be incorporated.
Design of a digital self-alignment controller for a ship's inertial navigation system at sea
Planung eines selbstabgleichenden Digitalreglers fuer die Traegheitsnavigationei nes Schiffes auf See
Proceedings of the IEE ; 122 , 1 ; 91-96
1975
6 Seiten, 8 Bilder, 11 Quellen
Article (Journal)
English
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