4043

3821

كارشناسي ارشد

كنترل

اصفهان: دانشگاه صنعتي اصفهان، دانشكده برق و كامپيوتر

1386

دوازده، 102، [II]ص.: مصور، جدول، نمودار

ص. ع. به فارسي و انگليسي

فريد شيخ الاسلام، جعفر قيصري

18/04/87

جواد عسگري، مهدي كشميري

1396/03/07

كتابنامه

برق و كامپيوتر

مهندسي برق و كامپيوتر

ID3821

به فارسي و انگليسي: قابل رؤيت در نسخه ديجيتال

Abstract Inertial Navigation Systems INSs typically employ an Inertial Measurement Unit IMU to detect the angular velocity and the linear acceleration accurately using three orthogonal rate gyroscopes and three orthogonal accelerometers respectively Error propagation analysis is one of the most important issues in INS which is addressed in many valuable research works Even small errors in INS sensors are integrated and propagated over the processing time These errors determine the performance and the accuracy of navigation using INS Error analysis is based on error models Error models also serve for real time failure detection and also for the data fusion filter implementation in the INS algorithms In this dissertation individual analytical models are proposed for each INS error source The proposed models accurately describe the position error of INS based on each measured error The separate error models for gyroscopes accelerometers and other error sources improve the accuracy of estimated velocity and position in INS but the calculation cost increases compared with conventional error models Then all calculated errors along with the systematic errors due to variations of INS parameters such as acceleration and velocity variations of the earth are employed to propose a new method for INS error modeling in the Phi angle frame work This approach leads to design a new algorithm in the true frame which particularly considers all errors in INS such as earth rate variations and initial misalignments In addition the algorithm not only works for small angular between true frame and platform frame but also it covers the whole range of the angular between these frames pdfMachine A pdf writer that produces quality PDF files with ease Produce quality PDF files in seconds and preserve the integrity of your original documents Compatible across nearly all Windows platforms if you can print from a windows application you can use pdfMachine Get yours now

فريد شيخ الاسلام، جعفر قيصري

جواد عسگري، مهدي كشميري