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Design of a digital self-alignment controller for a ship's inertial navigation system at sea

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2 Author(s)
Healey, M. ; University College, Department of Electrical & Electronic Engineering, Cardiff, UK ; Mackinnon, D.J.

Mathematical models are developed for the misalignment equations of a ship's inertial navigation system (s.i.n.s.) following restart after a complete shutdown at sea. The ships manoeuvres are modelled as stochastic processes and the misalignment is presented as a linearised stochastic process, which can be controlled by the gyro torqueing currents. The misalignment is observed by accelerometers, assuming base motion isolation, augmented by the `ships log¿ (a measure of velocity). The alignment is treatedas a discrete stochastic linear regulator problem, using a Kalman-Bucy filter. Simulation results show that good alignment can be achieved in about an hour, but a time-varying estimator must be incorporated.

Published in:

Electrical Engineers, Proceedings of the Institution of  (Volume:122 ,  Issue: 1 )