Hostname: page-component-78c5997874-t5tsf Total loading time: 0 Render date: 2024-11-11T06:53:35.919Z Has data issue: false hasContentIssue false
  • English
  • Français

Switching Method for Long-Term Inertial Navigation System Based on Switched Control

Published online by Cambridge University Press:  27 March 2019

Zhihong Deng ,
Lei Shi ,
Tong Liu  and
Bo Wang
Zhihong Deng*
Affiliation:
(School of Automation, Beijing Institute of Technology, No.5 South Street of Zhongguancun, Beijing, China)
Lei Shi
Affiliation:
(School of Automation, Beijing Institute of Technology, No.5 South Street of Zhongguancun, Beijing, China)
Tong Liu
Affiliation:
(School of Automation, Beijing Institute of Technology, No.5 South Street of Zhongguancun, Beijing, China)
Bo Wang
Affiliation:
(School of Automation, Beijing Institute of Technology, No.5 South Street of Zhongguancun, Beijing, China)
*
(E-mail: dzh_deng@bit.edu.cn)
Get access Rights & Permissions [Opens in a new window]

Abstract

The switching between a damped and an undamped Inertial Navigation System (INS) is an important technical method to ensure its long-term accuracy. The stability of switching is of great importance. This paper studies the switching stability problem between a damped and an undamped INS. A model of an inertial navigation switching system is established by introducing switched control. The average dwell time method is used to analyse stability and a sufficient condition of exponential stability is given. The condition is also extended to the switched system containing constant disturbance and the sufficient condition of exponential stability. The effect of introducing switched control for the smooth operation of the system is verified and the accuracy of a long-term INS is improved effectively.

Keywords

Inertial Navigation System (INS)Switched SystemStabilityOvershoot Compensation
Type
Research Article
Information
The Journal of Navigation , Volume 72 , Issue 5 , September 2019 , pp. 1315 - 1330
Copyright
Copyright © The Royal Institute of Navigation 2019 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

REFERENCES

Branicky, M. S. (1994). Stability of switched and hybrid systems. Proceedings of the 33th Conference on Decision and Control. 3498–3503.Google Scholar
Cheng, D. (2004). Stabilization of planar switched systems. Systems & Control Letters, 51(2), 79–88.Google Scholar
Cheng, D., Guo, L. and Wang, Y. (2005b). Stabilization of Switched Linear Systems, IEEE Transactions on Automatic Control, 50(5), 661–666.Google Scholar
Cheng, J., Zhao, L. and Song, J. (2005a). Application of auto-compensation technology to the switches of INS states. Journal of Harbin Engineering University, 26(6), 744–748 + 757.Google Scholar
Daniel, L. (2003). Switching in Systems and Control. Birkhauser.Google Scholar
Dayawansa, W. P. and Martin, C. F. (1999). A converse Lyapunov theorem for a class of dynamical systems which undergo switching. IEEE Transactions on Automatic Control, 44(4), 751–760.Google Scholar
Dragomir, S. S. (2003). Some Gronwall Type Inequalities and Applications, Nova Science Publishers, Hauppauge, New York.Google Scholar
Feng, L. (2016). Research on Damping and Comprehensive Calibration Techniques for Long-Term Inertial Navigation System, Beijing Institute of Technology, Beijing.Google Scholar
He, H., Xu, J. and Qin, F. (2012). Research for SINS damping overshoot error suppression algorithm. Ship Electronic Engineering, 32(11), 39–41.Google Scholar
Hespanha, J. P. (1999). Stability of switched systems with average dwell-time. Proceedings of the 38th IEEE Conference on Decision and Control. 2655–2660.Google Scholar
Hespanha, J. P., Liberzon, D., Angeli, D. and Sontag, E. D. (2005). Nonlinear norm-observability notions and stability of switched systems. IEEE Transactions on Automatic Control, 50(2), 154–168.Google Scholar
Hu, B., Zhai, G. and Michael, A. N. (2000). Hybrid output feedback stabilization of two dimensional linear control systems. Proceedings of the American Control Conference, Chicago, Ill.Google Scholar
Jiang, L., Yu, Y. and Chen, Y. (2014). An adaptive-damping network designed for inertial navigation system of ships. Electronics Optics & Control, 21(4), 52–55 + 96.Google Scholar
King, C. and Shorten, R. (2004). A singularity test for the existence of common quadratic Lyapunov functions for pairs of stable LTI systems. Proceedings of the 2004 American Control Conference, 3881–3884.Google Scholar
Lee, S. H., Kim, T. H. and Lim, J. T. (2000). A new stability analysis of switched systems. Automatica, 36(6), 917–922.Google Scholar
Liberzon, D. and Morse, A. S. (1999). Basic problems in stability and design of switched systems. IEEE Control Systems, 19(5), 59–70.Google Scholar
Mancilla-Aguilar, J. L. (2000). A condition for the stability of switched nonlinear systems. IEEE Transactions on Automatic Control, 45(11), 2077–2079.Google Scholar
Mancilla-Aguilar, J. L. and Garcia, R. A. (2006). An extension of Lasalle's invariance principle for switched systems. Systems & Control Letters, 55(5), 376–384.Google Scholar
Mason, O. and Shorten, R. (2007). On linear copositive Lyapunov functions and the stability of switched positive linear systems. IEEE Transactions on Automatic Control, 52(7), 1346–1349.Google Scholar
Oishi, M. and Tomlin, C. (1999). Switched nonlinear control of a VSTOL aircraft. Proceeding, of the 38th Conference on Decision and Control, Phoenix, AZ, 3(3), 2685–2690.Google Scholar
Qin, F., Li, A. and Xu, J. (2011). Horizontal inner damping method with continuously adjustable parameter for inertial navigation system. Journal of Chinese Inertial Technology, 19(3), 290–292 + 201.Google Scholar
Tan, J., Xi, N. and Wang, Y. (2004). A singularity-free motion control algorithm for robot manipulators-a hybrid systems approach. Automatica, 40(7), 1239–1245.Google Scholar
Titterton, D. H.and Weston, J. L. (2004). Strapdown Inertial Navigation Technology, 2nd ed. London, U.K. The Institute of Electrical Engineers.Google Scholar
Williams, S. M. and Hoft, R. G. (1991). Adaptive frequency domain control of PWM switched power line conditioner. IEEE Transactions on Power Electronics, 6, 665–670.Google Scholar
Zhai, G., Hu, B., Yasuda, K. and Michel, A. N. (2001). Stability analysis of switched systems with stable and unstable subsystems: an average dwell time approach. International Journal of Systems Science, 32(8), 1055–1061.Google Scholar
Zhao, L., Li, J., Cheng, J. and Hao, Y. (2016). Damping strapdown inertial navigation system based on a Kalman filter. Measurement Science and Technology, 27(11), 115102.Google Scholar