ADAPTIVE ROBUST DAMPING OF THE INERTIAL-SENSOR ERRORS
DURING INTEGRATED PRIMARY AND SECONDARY PROCESSING OF SIGNALS
This paper is devoted to the problem of damping of random residual drifts and random residual biases of the output signals of sensors of strapdown inertial navigation systems. (SINSs). The proposed solutions of the above problem rely on the implementation of closed-loop damping schemes. The mathematical support of such systems is based on joint procedures for the estimation of SINS errors and for subsequent compensation for such errors. The accomplishment of the purpose of this paper is based on the bringing of the problem of digital signal processing to a Kalman construction and on the tuning of such a construction to the functioning under a priori uncertainty and possible discordant measurements. The results of experimental studies are given, which corroborate the effectiveness of applying the proposed approach in practice.