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Instruments and Systems: Monitoring, Control, and Diagnostics

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Development of a Nonlinear Kalman Filter With Self-Organizing Models
ZHUYANG ZHOU, M.S. SELEZNEVA, K.A. NEUSYPIN

The problem of landing an unmanned aerial vehicle on an aircraft carrier is considered. The navigation complex of an unmanned aerial vehicle consists of an inertial system, a satellite system and a nonlinear Kalman filter. The navigation complex is subject to increased requirements for accuracy and speed. The nonlinear Kalman filter used to correct navigational information has been studied. A method for implementing a nonlinear Kalman filter in the correction scheme of navigation systems is presented. The nonlinear Kalman filter uses a priori error model of the inertial system. In practice, the process of changing the errors of a particular inertial system differs from the a priori model. This causes a decrease in the accuracy of the estimation, and hence the accuracy of the navigation defi nitions is reduced. An adaptive modifi cation of the nonlinear Kalman filter is presented, supplemented by an algorithm for constructing a model of the estimated process. The construction of the model is carried out by the method of group consideration of arguments. It is proposed to use the model obtained during the flight in the adaptive nonlinear Kalman fi lter instead of the a priori model. A cascade method of self-organization of models in the Kalman filter has been developed. At the stage of rectilinear rendezvous of an unmanned aerial vehicle with an aircraft carrier, a self-organizing model is used, and at the final stage of pre-landing maneuvering, a corrected trend is used. The trend correction is carried out by the method of group consideration of arguments on short measuring samples. Some results of the processing of measurements made during the experiment on board the balloon are presented.
Keywords: INS, GNSS, correction scheme, nonlinear Kalman filter, error model, adaptation, Group method of data handling, self-organizing trend.


DOI: 10.25791/pribor.4.2023.1399

Pp. 01-09.

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