Design and Analysis of Transfer Alignment Algorithms

aircraft harmonisation
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  i DESIGN AND ANALYSIS OF TRANSFER ALIGNMENT ALGORITHMS  A THESIS SUBMITTED TO THE GRADUATE SCHOOL OF NATURAL AND APPLIED SCIENCES OF MIDDLE EAST TECHNICAL UNIVERSITY BY Y İĞİ TER YÜKSEL IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF MASTER OF SCIENCE IN ELECTRICAL AND ELECTRONICS ENGINEERING FEBRUARY 2005  ii  Approval of the Graduate School of Natural and Applied Sciences Prof. Dr. Canan Özgen Director I certify that this thesis satisfies all the requirements as a thesis for the degree of Master of Science. Prof. Dr. İ smet Erkmen Head of Department This is to certify that we have read this thesis and that in our opinion it is fully adequate, in scope and quality, as a thesis for the degree of Master of Science. Prof. Dr. Mübeccel Demirekler Supervisor Examining Committee Members Prof. Dr. Kemal Leblebicio ğ lu (Chairman), (METU, EE) Prof. Dr. Mübeccel Demirekler, (METU, EE) Prof. Dr. Aydan Erkmen, (METU, EE)  Assist. Prof. Dr. Yakup Özkazanç, (Hacettepe Unv., EE) Dr. Ay ş e P ı nar Koyaz, (TÜB İ TAK – SAGE)  iii I hereby declare that all information in this document has been obtained and presented in accordance with academic rules and ethical conduct. I also declare that, as required by these rules and conduct, I have fully cited and referenced all material and results that are not srcinal to this work. Yi ğ iter YÜKSEL  iv ABSTRACT DESIGN AND ANALYSIS OF TRANSFER ALIGNMENT ALGORITHMS YÜKSEL, Yi ğ iter M.S., Department of Electrical and Electronics Engineering Supervisor : Prof. Dr. Mübeccel Demirekler February 2005, 169 Pages Transfer Alignment is the process of simultaneously initializing and calibrating a weapon inertial navigation system (INS) using data from host aircraft’s navigation system. In general, this process is accomplished by calculating the difference of navigation solutions between aircraft and weapon INSs to form observations which are then used in a Kalman filter to generate desired estimates. Numerous techniques about the problem of transfer alignment exist in the literature. In this thesis, those techniques that can be applied in the presence of elastic motion of aircraft wing were analyzed. Several transfer alignment algorithms each of which process different measurement types were designed and implemented. In order to evaluate the performance of implemented algorithms under realistic conditions, a transfer alignment simulation environment was developed. Using this simulation environment, the advantages and disadvantages of each algorithm were analyzed and the dependence of transfer alignment performance on Kalman filter system model, aircraft maneuvers and alignment duration were investigated. Keywords: Transfer Alignment, In-motion Alignment, Inertial Navigation
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