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Results indicate that such closed-loop scheme improves estimation accuracy compared to the free-run model prediction.
Once the state feedback laws for end-point optimization have been derived, issues on how these laws can be implemented as part of a closed-loop scheme are discussed.
In this paper, a new alignment algorithm that uses simultaneously both open-loop and closed-loop scheme is designed to increase the convergence rate of the Kalman filter in the fine alignment stage.
In order to resolve the problem, the new alignment algorithm calculates the attitude angles with the open-loop scheme and estimates the accelerometer and gyro biases with the closed-loop scheme at once.
Two independent approaches called the open-loop scheme and the closed-loop scheme are proposed based on this idea, both of which aims at suppressing the performance deterioration from the viewpoint of closed-loop control systems.
Experimental results along 7 months of tests indicate that such closed-loop scheme improves estimation accuracy and robustness compared to the free-run model prediction or to the use of a single unscented Kalman filter.
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Now, Figure 5 illustrates the comparison of AGSSK and AGSSK-TOSD with closed-loop schemes and the open-loop GSSK for a rate of 4 bpcu.
Figure 2 illustrates the performance comparison of AGSSK and AGSSK-TOSD with closed-loop schemes and the open-loop GSSK and GSSK for N t = 3, N a = 2, and a rate of 1 bpcu.
Figure 2 Performance comparison of AGSSK and AGSSK-TOSD with closed-loop schemes and the open-loop GSSK for N t = 3, N a = 2, and a rate of 1 bpcu.
Figure 3 illustrates the performance comparison of AGSSK and AGSSK-TOSD with closed-loop schemes and the open-loop GSSK for N t = 4, N a = 2, and a rate of 2 bpcu.
Figure 4 shows the performance comparison of AGSSK and AGSSK-TOSD with closed-loop schemes and the open-loop GSSK for a rate of 3 bpcu, where the N t = 6, N a = 4 configuration was chosen.
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Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com