An in-motion alignment method for inertial navigation system based on unfalsified adaptive control theory

Yongqiang Han; Michael G. Safonov; Jiabin Chen

doi:10.1109/CGNCC.2014.7007471

An in-motion alignment method for inertial navigation system based on unfalsified adaptive control theory

Yongqiang Han, Michael G. Safonov, Jiabin Chen

School of Automation

University of Southern California

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

An adaptive gyro compassing algorithm is designed based on Unfalsified Adaptive Control Theory (UAC) to solve the in-motion alignment problem of Inertial Navigation System (SINS). The typical way of solving the problem is through filtering, yet the major factor that affects the performance of the filters is the model error as well as the plant properties such as system noise, which make it not optimal as expected. Gyro compassing method is designed based on classical control theory, which can be viewed as a fixed gain PI controller. The control coefficients do not rely on the noise statistics. The problem of gyro compassing is that the controller gain need to be tuned to get good performance and thus is not optimal. Unfalsified Adaptive Control is introduced to fix this problem. UAC belongs to the class of control methods called adaptive supervisory switching control. It selects the best controller from a candidate controller set and switches it into the control loop by calculating the fictitious reference signal of each candidate controller, only using the information from the plant output. In this paper we designed a UAC gyro compassing algorithm which is independent to system model.

Original language	English
Title of host publication	2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1900-1905
Number of pages	6
ISBN (Electronic)	9781479946990
DOIs	https://doi.org/10.1109/CGNCC.2014.7007471
Publication status	Published - 12 Jan 2015
Event	6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014 - Yantai, China Duration: 8 Aug 2014 → 10 Aug 2014

Publication series

Name	2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014

Conference

Conference	6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
Country/Territory	China
City	Yantai
Period	8/08/14 → 10/08/14

Keywords

Cost Function
Gyro Compassing
In-Motion Alignment
Switching Control
Unfalsified Adaptive Control

Access to Document

10.1109/CGNCC.2014.7007471

Cite this

Han, Y., Safonov, M. G., & Chen, J. (2015). An in-motion alignment method for inertial navigation system based on unfalsified adaptive control theory. In 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014 (pp. 1900-1905). Article 7007471 (2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CGNCC.2014.7007471

Han, Yongqiang ; Safonov, Michael G. ; Chen, Jiabin. / An in-motion alignment method for inertial navigation system based on unfalsified adaptive control theory. 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014. Institute of Electrical and Electronics Engineers Inc., 2015. pp. 1900-1905 (2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014).

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title = "An in-motion alignment method for inertial navigation system based on unfalsified adaptive control theory",

abstract = "An adaptive gyro compassing algorithm is designed based on Unfalsified Adaptive Control Theory (UAC) to solve the in-motion alignment problem of Inertial Navigation System (SINS). The typical way of solving the problem is through filtering, yet the major factor that affects the performance of the filters is the model error as well as the plant properties such as system noise, which make it not optimal as expected. Gyro compassing method is designed based on classical control theory, which can be viewed as a fixed gain PI controller. The control coefficients do not rely on the noise statistics. The problem of gyro compassing is that the controller gain need to be tuned to get good performance and thus is not optimal. Unfalsified Adaptive Control is introduced to fix this problem. UAC belongs to the class of control methods called adaptive supervisory switching control. It selects the best controller from a candidate controller set and switches it into the control loop by calculating the fictitious reference signal of each candidate controller, only using the information from the plant output. In this paper we designed a UAC gyro compassing algorithm which is independent to system model.",

keywords = "Cost Function, Gyro Compassing, In-Motion Alignment, Switching Control, Unfalsified Adaptive Control",

author = "Yongqiang Han and Safonov, {Michael G.} and Jiabin Chen",

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Han, Y, Safonov, MG & Chen, J 2015, An in-motion alignment method for inertial navigation system based on unfalsified adaptive control theory. in 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014., 7007471, 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014, Institute of Electrical and Electronics Engineers Inc., pp. 1900-1905, 6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014, Yantai, China, 8/08/14. https://doi.org/10.1109/CGNCC.2014.7007471

An in-motion alignment method for inertial navigation system based on unfalsified adaptive control theory. / Han, Yongqiang; Safonov, Michael G.; Chen, Jiabin.
2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014. Institute of Electrical and Electronics Engineers Inc., 2015. p. 1900-1905 7007471 (2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Han, Yongqiang

AU - Safonov, Michael G.

AU - Chen, Jiabin

PY - 2015/1/12

Y1 - 2015/1/12

N2 - An adaptive gyro compassing algorithm is designed based on Unfalsified Adaptive Control Theory (UAC) to solve the in-motion alignment problem of Inertial Navigation System (SINS). The typical way of solving the problem is through filtering, yet the major factor that affects the performance of the filters is the model error as well as the plant properties such as system noise, which make it not optimal as expected. Gyro compassing method is designed based on classical control theory, which can be viewed as a fixed gain PI controller. The control coefficients do not rely on the noise statistics. The problem of gyro compassing is that the controller gain need to be tuned to get good performance and thus is not optimal. Unfalsified Adaptive Control is introduced to fix this problem. UAC belongs to the class of control methods called adaptive supervisory switching control. It selects the best controller from a candidate controller set and switches it into the control loop by calculating the fictitious reference signal of each candidate controller, only using the information from the plant output. In this paper we designed a UAC gyro compassing algorithm which is independent to system model.

AB - An adaptive gyro compassing algorithm is designed based on Unfalsified Adaptive Control Theory (UAC) to solve the in-motion alignment problem of Inertial Navigation System (SINS). The typical way of solving the problem is through filtering, yet the major factor that affects the performance of the filters is the model error as well as the plant properties such as system noise, which make it not optimal as expected. Gyro compassing method is designed based on classical control theory, which can be viewed as a fixed gain PI controller. The control coefficients do not rely on the noise statistics. The problem of gyro compassing is that the controller gain need to be tuned to get good performance and thus is not optimal. Unfalsified Adaptive Control is introduced to fix this problem. UAC belongs to the class of control methods called adaptive supervisory switching control. It selects the best controller from a candidate controller set and switches it into the control loop by calculating the fictitious reference signal of each candidate controller, only using the information from the plant output. In this paper we designed a UAC gyro compassing algorithm which is independent to system model.

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KW - Gyro Compassing

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SP - 1900

EP - 1905

BT - 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014

Y2 - 8 August 2014 through 10 August 2014

ER -

Han Y, Safonov MG, Chen J. An in-motion alignment method for inertial navigation system based on unfalsified adaptive control theory. In 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014. Institute of Electrical and Electronics Engineers Inc. 2015. p. 1900-1905. 7007471. (2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014). doi: 10.1109/CGNCC.2014.7007471

An in-motion alignment method for inertial navigation system based on unfalsified adaptive control theory

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Keywords

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