This paper deals with designing the navigation scheme of a gimballed inertial system. This design is introduced and proved in the form of two theorems. Most of the gimballed navigation schemes proposed in the literature have the drawback of estimating position rates for alignment commands. Not only the estimating position rates are the basic source of the position errors, but also, they make the alignment commands and their implementation more complicated. The major advantage of the proposed design is that it eliminates the errors resulting from the estimation of the longitude and latitude rates because the angular velocity commands of gyroscopes are proportional to accelerations’ integrals and independent of the system position. In this paper, the stabilized platform is modelled, the platform alignment procedure is determined, and the initial conditions of the navigation phase are calculated. The results of the navigation scheme are compared with the wander-azimuth scheme in four scenarios and the performance of the position-independent navigation scheme is evaluated in practical tests and its results are presented.
- حق عضویت دریافتی صرف حمایت از نشریات عضو و نگهداری، تکمیل و توسعه مگیران میشود.
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