پديد آورنده :
دادخواه، داوود
عنوان :
بررسي و تصحيح انحراف تراز در سيستم ناوبري اينرسي
مقطع تحصيلي :
كارشناسي ارشد
گرايش تحصيلي :
معماري اويونيك
محل تحصيل :
اصفهان: دانشگاه صنعتي اصفهان، دانشكده برق و كامپيوتر
صفحه شمار :
سيزده، 104ص.: مصور، جدول، نمودار
يادداشت :
ص. ع. به فارسي و انگليسي
استاد راهنما :
اصغر غلامي
توصيفگر ها :
سيستم ناوبري اينرسي متصل به بدنه , فيلتر كالمن حالت خطا , بهينه سازي , هم ترازي اوليه , واحد اندازه گيري اينرسي
استاد داور :
محمدرضا تابان، مجدالدين نجفي
تاريخ ورود اطلاعات :
1396/01/15
رشته تحصيلي :
برق و كامپيوتر
دانشكده :
مهندسي برق و كامپيوتر
چكيده انگليسي :
Analysis and Correction of Misalignment in Inertial Navigation System Davood Dadkhah D Dadkhah@ec iut ac ir January 15 2017 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi Supervisor Dr Asghar Gholami Gholami@cc iut ac ir Abstract With expansion of usage of unmanned vehicles developing accurate and reliable navigation systems is vital Roleof Inertial Navigation System in these navigation systems due to its independence from external sensors is undeniable Inertial Navigation System is consist of an Inertial Measurement Unit which contains three orthogonal accelerometers andthree orthogonal gyroscopes With measurements of these sets and acknowledge of initial position deadreckoning can bedone perfectly Finding initial misalignment angles between the inertial measurement unit and navigation frame axes isthe first and one of the most important steps in the navigation process Depend on grade of the inertial measurement unitsensors different types of Initial alignment methods should be used The major goal of this thesis is analysis and correction of the misalignment angles between the inertial measurement unit andnavigation frame axes To deal with this problem different methods like Optimization based initial alignment using Kalmanfilter for estimating alignment errors with measurements of aided sensors like Doppler velocity log and Global positioningsystem and a novel method based on global positioning system and Doppler velocity log measurements is provided At theend results from these methods are compared for quality assessment of the presented methods Key Words Strapdown Inertial Navigation System Error State Kalman Filter Optimization InitialAlignment Inertial Measurement Unit
استاد راهنما :
اصغر غلامي
استاد داور :
محمدرضا تابان، مجدالدين نجفي
