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Related Experiment Video

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A Fast North-Finding Algorithm on the Moving Pedestal Based on the Technology of Extended State Observer (ESO).

Yunchao Bai1,2, Bing Li1,2, Haosu Zhang3,4

  • 1State Key Laboratory for Manufacturing Systems Engineerng, Xi'an Jiaotong University, Xi'an 710054, China.

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|October 14, 2022
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Summary

A new algorithm enhances north-seeker alignment using Extended State Observer (ESO) technology for faster, high-accuracy results. This method significantly improves convergence speed and anti-interference capabilities for moving platforms.

Keywords:
fiber-optic gyroscope (FOG)inertial alignmentshipborne inertial systems

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Area of Science:

  • Control Theory
  • Navigation Systems
  • Signal Processing

Background:

  • Traditional Kalman fine-alignment models face challenges with rapid, high-accuracy, and anti-interference alignment on moving platforms, particularly in north-seekers.
  • Existing methods struggle to achieve fast convergence and robustness in dynamic environments.

Purpose of the Study:

  • To develop a fast and high-precision alignment algorithm for north-seekers on moving platforms.
  • To improve the convergence speed and anti-interference capabilities of the alignment process.
  • To reduce the time-cost associated with traditional alignment methods.

Main Methods:

  • Introduction of Extended State Observer (ESO) technology to enhance the traditional Kalman fine-alignment model.
  • A two-stage alignment process: coarse alignment in the inertial frame followed by fine alignment using ESO technology.
  • Algorithm model, calculation process, and initial filter value settings are detailed.

Main Results:

  • Simulations using shipborne north-finder data (Fiber-Optic Gyroscope - FOG) demonstrated significant improvements.
  • The proposed ESO-based method achieved a misalignment angle of ≤2.1' after 5.5 minutes, compared to 1.8' for the traditional method after 10 minutes in the first simulation.
  • In the second simulation with varying Doppler Velocity Log (DVL) precision, the ESO method achieved ≤4.8' misalignment after 5.5 minutes, significantly outperforming the traditional method's 14.2' after 10 minutes.

Conclusions:

  • The ESO technology significantly accelerates heading angle convergence, offering high accuracy and strong anti-interference.
  • The proposed algorithm eliminates the need for Kalman Filter (KF) recursive calculations, reducing time-cost.
  • The method proves effective for shipborne north-finders, even with varying measurement precisions from sensors like DVL.