Authors:
Irina Avital
1
;
Isaac Yaesh
1
and
Adrian-Mihail Stoica
2
Affiliations:
1
Elbit Systems, Land and IMI Division, Ramat Ha Sharon, Israel
;
2
University POLITEHNICA of Bucharest, Romania
Keyword(s):
Leveling Loop, Kalman Filtering, Multiplicative Noise, Systems With Finite Jumps.
Abstract:
The problem of leveling using a low cost Inertial Measurement Unit (IMU) is considered, where the IMU measurements are corrupted with white noise. In such a case the state equations are subject to state-multiplicative noise. To cope with this noise, a state-Multiplicative Kalman Filter (MKF) is applied. The state components for the Kalman filter implementation include the Body Position Vector (BPV), the Body Velocity Vector (BVV), which is just the Ground Velocities Vector (GVV), projected onto the body axes and the three direction cosines related to the roll and pitch angles. The BVB is assumed to be measured using a Doppler Velocity Log (DVL) device which consists of four antennas measuring the Doppler effect. Similarly, it is assumed that the corresponding BPV can be measured, for instance, using the received signal power at those four antennas. The paper includes numerical simulations and implementation aspects related to the sampled data nature of the estimation problem.