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Filtering application in case of measurement of angular orientation of rotating object

Keywords:

Y.L. Fateev, E.N. Garin, D.D. Dmitriev, V.N. Tyapkin


The use of consumer navigation equipment of satellite navigation systems GLONASS / GPS on mobile radar allows their operational precision topographic binding. When placing radionavigation antenna directly in the antenna system of mobile means of radar, it is possible to measure the angle of deviation of the axis of rotation of the vertical antenna [1]. The algorithm of the measurement deviation of the axis of rotation of the antenna from the vertical is considered. Its essence lies in the fact that, the position of the axis of rotation of the trajectory, and the current angular position is defined in the plane of rotation. Studies have shown that the required accuracy of the spatial position of the axis of rotation is achieved only in the application of relative phase modes of navigation equipment that is not always feasible. For a sufficiently precise definition of deviation of the axis of rotation of the antenna from the vertical to a fairly large number of measurements, i.e., averaging the measured data. Significantly increase the accuracy of the spatial position of the axis of rotation of the antenna will allow the use of filtering of the measured parameters, namely the planar coordinates. Filtering is implemented through the use of the Kalman filter of order 2. It is shown that the use of filtering the measured coordinate plane has a significant effect. In particular, even at a speed of 1 RPM is no disruption of the algorithm coded in standalone mode, in the relative phase mode, the required accuracy is achieved at 3 RPM. Nearly level of filtration is chosen based on the dynamics of the object.
References:

  1. Fateev Ju.L., Garin E.N., Dmitriev D.D. Izmerenie uglovoj orientaczii vrashhayushhegosya ob''ekta // Uspexi sovremennoj radioe'lektroniki. 2012.№ 9. S. 69–75.
  2. Garin E.N., Dmitriev D.D., Kremez N.S. Opredelenie prostranstvennoj orientaczii ob''ektov s pomoshh'yu sputnikovy'x sistem radionavigaczii // Sovremenny'e problemy' radioe'lektroniki: Sb. nauch. tr. / pod red. A.I. Gromy'ko, A.V. Sarafanov. M.: Radio i svyaz'. 2006. S. 441–444.
  3. Javorskij B.M., Detlaf A.A. Spravochnik po fizike dlya inzhenerov i studentov vuzov. M.: Nauka. 1977. 268 s.
  4. Balakrishnan A.V. Teoriya fil'traczii Kalmana. M.: Mir. 1988. 264 s.

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