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UDC 629.052.7

APPLICATION OF AUTOCOVARIANCE LEAST-SQUARES METHOD IN INVARIANT ANGULAR ORIENTATION SCHEME

V. A. Belokurov, PhD (technical sciences), department of radieongineering systems, RSREU, Ryazan; This email address is being protected from spambots. You need JavaScript enabled to view it.

The problem of synthesizing adaptive noise measurements and noise process of Kalman filter process used in angular orientation system constructed on the basis of invariant integration scheme is considered. The aim of the paper is to investigate the possibility of applying the least-squares autocovariance method for estimating linearly varying process noise parameters and measurement noise. This method is modified to be used in an invariant integration scheme. Evaluation of the effectiveness of the proposed method was carried out experimentally. For this purpose, an experimental sample of angular orientation system was created on the basis of integrated inertial module ADIS16405. The readings of gyroscope, accelerometer and magnetometer triads were recorded. The initial exhibition was held on the testimony of accelerometers and magnetometers. After that, post-processing was carried out. It is shown that as lag length increases, the accuracy of estimating noise matrix elements increases with the evaluation of autocovariance matrix.

Key words: micromechanical sensing elements, angular orientation system, roll, course, pitch, kinematic equations, Rodrigo-Hamilton parameters, invariant blocking scheme, adaptation, noise estimation.

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