Comparison of statistical methods for the alignment of strapdown inertial systems

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dc.contributor.advisorSchwarz, Klaus-Peter P.
dc.contributor.authorLiu, Ziwen
dc.date.accessioned2005-08-05T17:03:26Z
dc.date.available2005-08-05T17:03:26Z
dc.date.issued1992
dc.descriptionBibliography: p. 78-80.en
dc.description.abstractIn the thesis, different numerical methods for the alignment of a Strapdown Inertial Surveying System (SISS) are investigated. Kalman filtering is used as the standard real-time processing method. A new wave filtering method proposed by Salychev and Bykovsky [1991] is presented and successfully used as an alternative to the conventional real-time Kalman filter. For post-mission processing, a recursive least squares method suitable for linear dynamic systems is developed. Repeated Kalman filtering is used as an important means to improve the estimation of the azimuth. Optimal smoothing is also used for refining the azimuth estimation of the SISS. Shown through experimental results using the LTN-90-100 strapdown system is that the different methods can be useful for different purposes. Kalman filtering and wave filtering can be used as real-time alignment algorithms. The wave method reaches a stable state within three minutes while the Kalman filter needs ten minutes. On the other hand, Kalman filtering provides an estimate of the filtering accuracy and this allows statistical testing which is not possible with the wave method. Repeated Kalman filtering, optimal smoothing and least squares methods give comparable results in post-mission processmg. They are accurate within about one arc minute and are stable to about ten arc seconds over a period of ten minutes.
dc.format.extentxiv, 80 leaves : ill. ; 30 cm.en
dc.identifier.citationLiu, Z. (1992). Comparison of statistical methods for the alignment of strapdown inertial systems (Master's thesis, University of Calgary, Calgary, Canada). Retrieved from https://prism.ucalgary.ca. doi:10.11575/PRISM/24029en_US
dc.identifier.doihttp://dx.doi.org/10.11575/PRISM/24029
dc.identifier.isbn0315790679en
dc.identifier.lccTA 549 L58 1992en
dc.identifier.urihttp://hdl.handle.net/1880/31345
dc.language.isoeng
dc.publisher.facultyEngineering
dc.publisher.institutionUniversity of Calgaryen
dc.publisher.placeCalgaryen
dc.rightsUniversity of Calgary graduate students retain copyright ownership and moral rights for their thesis. You may use this material in any way that is permitted by the Copyright Act or through licensing that has been assigned to the document. For uses that are not allowable under copyright legislation or licensing, you are required to seek permission.
dc.subject.lccTA 549 L58 1992en
dc.subject.lcshSurveying - Statistical methods
dc.subject.lcshKalman filtering
dc.titleComparison of statistical methods for the alignment of strapdown inertial systems
dc.typemaster thesis
thesis.degree.disciplineGeomatics Engineering
thesis.degree.grantorUniversity of Calgary
thesis.degree.nameMaster of Science (MSc)
ucalgary.item.requestcopytrue
ucalgary.thesis.accessionTheses Collection 58.002:Box 830 520535215
ucalgary.thesis.notesoffsiteen
ucalgary.thesis.uarcreleaseyen
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