 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 12804 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8044
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| In English (Mech. Solids): | | 4760 |
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| Yu. A. Litmanovich, "Determination of parameters of angular and linear motions of a rigid body according to the inertial information in the form of increments of multiple integrals of the parameters to be measured," Mech. Solids. 37 (1), 13-25 (2002) |
| Year |
2002 |
Volume |
37 |
Number |
1 |
Pages |
13-25 |
| Title |
Determination of parameters of angular and linear motions of a rigid body according to the inertial information in the form of increments of multiple integrals of the parameters to be measured |
| Author(s) |
Yu. A. Litmanovich (St. Petersburg) |
| Abstract |
We consider the problems of determining the parameters of the
angular and linear motions of a rigid body by means of integration
of the kinematic and navigational equations. We assume that the
inertial information is given by increments of multiple integrals
of the angular velocity and apparent acceleration of the body
represented in the body-fixed reference frame. Two
approaches-smoothing and invariant-are proposed for
the synthesis of numerical algorithms solving these
problems. For each of these approaches, we present a technique
for synthesizing the algorithms, give examples of such algorithms,
and obtain expressions for their errors. Separately, we consider
the problem of the integration of the velocity in an inertial basis.
A precise discrete-time algorithm has been obtained which can be
implemented for the inertial information represented in the form
indicated above. The results of the numerical simulation
of the conventional and new algorithms are presented. During the
simulation we take into account high-frequency harmonic components
in the readings of the inertial meters which cause systematic errors. |
| References |
| 1. | D. V. Lebedev and A. I. Tkachenko, Inertial Control Systems:
Algorithmic Aspects [in Russian], Naukova Dumka, Kiev, 1991. |
| 2. | A. P. Panov, Mathematical Fundamentals of the Theory
of Inertial Orientation [in Russian], Naukova Dumka, Kiev, 1995. |
| 3. | V. N. Branets and I. P. Shmyglevskii,
Introduction to the Theory of Strapdown Inertial Navigation Systems
[in Russian], Nauka, Moscow, 1992. |
| 4. | P. G. Savage, "Strapdown inertial navigation algorithm design.
Pt. 1. Attitude algorithms,"
Guidance, Control, and Dynamics, Vol. 21, No. 1, pp. 19-28, 1998. |
| 5. | P. G. Savage, "Strapdown inertial navigation algorithm design.
Pt. 2. Velocity and position algorithms,"
Guidance, Control, and Dynamics, Vol. 21, No. 2, pp. 208-221, 1998. |
| 6. | V. M. Lesyuchevskii and Yu. A. Litmanovich,
"New approaches to the development of discrete algorithms for
determining the parameters of the linear motion of an object
in inertial navigation systems,"
Giroskopiya i Navigatsiya, No. 2, pp. 39-58, 1994. |
| 7. | Yu. A. Litmanovich, "Use of angular rate multiple integrals
as input signals for strapdown attitude algorithms,"
in Proc. Symp. Gyro Technology, pp. 20.0-20.9, 1997. |
| 8. | M. B. Ignagni, "Duality of optimal strapdown sculling and coning
compensation algorithms,"
Navigation, Vol. 45, No. 2, pp. 85-96, 1998. |
| 9. | R. B. Miller, "A new strapdown attitude algorithm,"
Guidance, Control, and Dynamics, Vol. 6, No. 4, pp. 287-291, 1983. |
| 10. | V. Z. Gusinskii, V. M. Lesyuchevsky, Yu. A. Litmanovich,
H. Musoff, and G. T. Schmidt,
"New procedure for deriving strapdown attitude algorithms,"
Guidance, Control, and Dynamics, Vol. 20, No. 4, pp. 673-680, 1997. |
|
| Received |
22 December 1999 |
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