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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd"> <html> <head> <title>page_205</title> <link rel="stylesheet" href="reset.css" type="text/css" media="all"> <meta http-equiv="Content-Type" content="text/html; charset=UTF-8" /> </head> <body> <table summary="top nav" border="0" width="100%"> <tr> <td align="left" width="30%" style="background: #EEF3E2"><a style="color: blue; font-size: 120%; font-weight: bold; text-decoration: none; font-family: verdana;" href="page_204.html">< previous page</a></td> <td id="ebook_previous" align="center" width="40%" style="background: #EEF3E2"><strong style="color: #2F4F4F; font-size: 120%;">page_205</strong></td> <td align="right" width="30%" style="background: #EEF3E2"><a style="color: blue; font-size: 120%; font-weight: bold; text-decoration: none; font-family: verdana;" href="page_206.html">next page ></a></td> </tr> <tr> <td id="ebook_page" align="left" colspan="3" style="background: #ffffff; padding: 20px;"> <table border="0" width="100%" cellpadding="0"><tr><td align="center"> <table border="0" cellpadding="2" cellspacing="0" width="100%"><tr><td align="left"></td> <td align="right"></td> </tr></table></td></tr><tr><td align="left"><p></p><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="right"><font face="Times New Roman, Times, Serif" size="2" color="#FF0000">Page 205</font></td></tr></table><table cellpadding="0" cellspacing="0" border="0" width="100%"><tr><td height="12"></td></tr><tr><td><table cellspacing="0" width="451" cellpadding="4"><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2">Table聽6.2 Definition聽of聽Generic聽Notation聽for聽INS聽Error Equation聽Summary</font></td></tr><tr><td valign="top"><font face="Times New Roman, Times, Serif" size="2"><img src="f0c2dc2deaf271f7193cb9e43cd7f097.gif" border="0" alt="0205-01.GIF" width="256" height="197" /></font></td></tr></table></td></tr></table><br /><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3"><i>6.4.3<br />INS Nominal Error State Analysis</i></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">In this section the time dependence of the navigation-system error state due to initial condition errors is analyzed. The simulations are extensions of those presented in Refs. 18 and 153. At least three methods are possible for analyzing the performance of a nonlinear system such as an INS.</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">First, the analyst can implement a nonlinear simulation of both the vehicle-and the navigation-system differential equations. The coupled differential equations are integrated for a given set of applied forces, and the relevant state variables of the two systems are differenced to determine the navigation-system error. This approach requires a high simulation rate and the (numeric) solution of nonlinear differential equations.</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">Second, the analyst can linearize the navigation equations about a nominal trajectory of the vehicle. The solution to the linearized navigation-system equations indicates the deviation of the navigation state from the actual vehicle state for a given trajectory. The given trajectory of the vehicle is needed to specify the F matrix completely. This trajectory is particularly simple for nonaccelerating vehicles. This approach allows a much lower simulation rate since the eigenvalues of the error system are quite small (corresponding to time constants of ~84 min).</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">Third, the analyst can linearize the navigation equations and perform a co-variance analysis, as described in Sec. 4.4.2. This method has the advantage, when the generation of error statistics is the prime objective, of producing second-order statistics for the error states from a single simulation run.</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td> <td colspan="3" height="12"></td> <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td> <td><font face="Times New Roman, Times, Serif" size="3">In the following section the second method is used to illustrate the character of the solution of the INS error equations. These simulations are deterministic in nature, illustrating the error response due to a specific assumed initial condition in the absence any other errors. The analysis is useful for motivating reduced-order models, motivating certain INS calibration methods and generating an understanding of the system behavior. The presented analysis allows prediction of error growth in more general situations through the application of superposition and scaling.</font><font face="Times New Roman, Times, Serif" size="3" color="#FFFF00"></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td></tr></table><p><font size="0"></font></p>聽 </td> </tr> <tr> <td align="left" width="30%" style="background: #EEF3E2"><a style="color: blue; font-size: 120%; font-weight: bold; text-decoration: none; font-family: verdana;" href="page_204.html">< previous page</a></td> <td id="ebook_next" align="center" width="40%" style="background: #EEF3E2"><strong style="color: #2F4F4F; font-size: 120%;">page_205</strong></td> <td align="right" width="30%" style="background: #EEF3E2"><a style="color: blue; font-size: 120%; font-weight: bold; text-decoration: none; font-family: verdana;" href="page_206.html">next page ></a></td> </tr> </table> </body> </html>⌨️ 快捷键说明
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