Nonlinear stochastic estimation of the navigation parameters of the antenna of a mobile radio engineering complex by inertial-satellite measurements

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Resumo

A general solution to the problem of stochastic estimation of navigation parameters of mast antennas of radio engineering complexes (RTCs) located on mobile objects is considered. It is shown that the existing methods for determining navigation parameters using measurements of satellite navigation systems or inertial orientation systems do not provide the required accuracy for solving this problem for such a class of antennas under the action of random disturbances on an object and/or mast.

In this regard, an algorithm is proposed for stochastic estimation of the navigation parameters of a mast antenna of a radio engineering complex located on a mobile object, invariant both to the nature of the movement of the mast and to the nature of the movement of the object. It is shown that this algorithm makes it possible to ensure stability and the required accuracy of estimation under the most general assumptions about the nature of interference of sensitive elements (CE) using a strapless inertial orientation system (BIS). To solve the problem, in the most general case, the BISO includes two groups of CES consisting of three orthogonal accelerometers and three angular velocity sensors (ARC) located, respectively, in the centers of mass of the object and the antenna.

The vectors of the Rodrigue–Hamilton parameters are used as the observed vectors of the navigation parameters of the antenna and the object, and the vector of the DUS output signals located in the center of mass of the antenna is used as their observer. Based on stochastic nonlinear equations of their state vectors and equations of stochastic models of DUS output signals constructed for the most general case of antenna and object motion, a generalized Kalman filter was formed, providing a general solution to the problem of estimating the navigation parameters of a mast antenna of arbitrary design placed on a moving object.

The presented results of numerical modeling allow us to conclude that the proposed approach can be used to solve the problem of high-precision determination of navigation parameters of mast antennas of radio engineering complexes located on mobile objects, using medium and high-precision BIS without correction over a long period of time.

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Sobre autores

S. Sokolov

Moscow Technical University of Communications and Informatics

Autor responsável pela correspondência
Email: s.v.s.888@yandex.ru
Rússia, Moscow

V. Pogorelov

Moscow Technical University of Communications and Informatics

Email: vadim-pva@narod.ru
Rússia, Moscow

I. Reshetnikova

Moscow Technical University of Communications and Informatics

Email: irina_reshetnikova@mail.ru
Rússia, Moscow

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2. Fig. 1. Coordinate systems

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3. Fig. 2. Errors in estimating the orientation of the PSC1 relative to the ISC, expressed by the Rodrigues-Hamilton parameter vector µ.

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4. Fig. 3. Errors in estimating the orientation of the PSC2 relative to the OSC, expressed by the Rodrigues-Hamilton parameter vector η.

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5. Fig. 4. Errors in estimating the orientation of the OSC relative to the PSC1, expressed by the Rodrigues-Hamilton parameter vector λ.

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6. Fig. 5. Errors in estimating the coordinates of a mobile RTK

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7. Supplement
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