An Investigation of Optimization Techniques Applicable to a Non-Linear, Velocity-Damped Inertial Navigator

摘要

Two adaptive control techniques are used to damp a second-order velocity-damped inertial navigator. The first technique uses the square of the velocity error to vary the damping and the second technique uses the crosscoupling effects of the earth-level platform. An analog simulation is made to test the feasibility of the approaches taken and to find representative non-linearities and damping parameters in the adaptive loops. The system is then 'flown' on the IBM 7094 computer. An actual undamped inertial navigation system sensor package, using strapped down sensors, had been previously flight-tested and the sensor outputs were stored on magnetic tape. The IBM 7094 computer is programmed to accept this sensor information along with the adaptive loop damping information which allows the system to be tested under realistic flight conditions. Direct comparisons between the systems can then be made. A comparison of the undamped, adaptive damped, and constant damped position error curves shows that the adaptive damping improves the position uncertainty by approximately 70 percent over the undamped system and by approximately 35 percent over the best constant damped system. (Author)