مقایسه عملکرد فیلتر ذره‌ای با فیلتر کالمن تعمیم‌یافته و تعمیم‌یافته هیبریدی در تلفیق اطلاعات INS/GPS

نوع مقاله : مقاله پژوهشی

نویسندگان

مجتمع برق و کامپیوتر- دانشگاه صنعتی مالک اشتر

چکیده

خطای سیستم ناوبری اینرسی با گذشت‌ زمان افزایش‌یافته و باعث ناپایداری سیستم ناوبری می‌گردد، ازاین‌رو در این مقاله به تلفیق اطلاعات سیستم ناوبری اینرسی و سیستم موقعیت‌یابی جهانی پرداخته ‌شده است. از رایج‌ترین روش‌های تلفیق اطلاعات این دو سیستم، استفاده از فیلتر کالمن است اما به دلیل رفتار غیرخطی سیستم ناوبری تلفیقی از فیلترهای غیرخطی برای تلفیق اطلاعات استفاده شده است. همچنین با توجه به آن‌که سیستم موقعیت‌یاب جهانی قادر به‌اندازه‌گیری داده‌های سرعت و موقعیت جسم است از این اندازه‌گیری‌ها برای تخمین حالت‌های سیستم (موقعیت، سرعت و وضعیت) استفاده ‌شده است. در ادامه، به بررسی مشاهده‌پذیری فضای حالت سیستم پرداخته ‌شده است. با استفاده از داده‌های عملی مربوط به یک پهپاد، مقایسه نتایج شبیه‌سازی نشان می‌دهد که عملکرد فیلتر ذره‌ای در مقابل با سیستم‌های غیرخطی پیچیده با نویز غیرگوسی نسبت به دو تخمین‌گر دیگر بهتر است.

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