Synthesis of StrapdownInertial Navigation SystemUsing Feedback-Feedforward Correction with GPS and Altimeter as References

• Main Author: Hanif, Hilmy
• Format: Final Project
• Language: Indonesia
• Subjects: Teknik (Rekayasa, enjinering dan kegiatan berkaitan)
• Online Access: https://digilib.itb.ac.id/gdl/view/44889
• Institution: Institut Teknologi Bandung

Theobjective of this research is to design a prototype of strapdown inertial navigation system (SINS) for RKX-200 rocket made by LAPAN. The SINS is designed by integration of inertial measurement unit (IMU) and GPS (Global Positioning System) with an altimeter as the references using Kalman Filter (KF). The IMU consists of accelerometers and gyroscopes which are integrated in VectorNav 200T. Prior to realization, calibration of the sensors is needed to eliminate the deterministic errors, whilethe stochastic error modelling is used to identify the types of the random noise distribution of the sensors. GPS and altimeter are used as references to perform correction of IMU reading using Kalman Filter every 0.2 second. Kalman Filter will produce error estimates of velocity and position based on the data from the IMU and the references. Combination of feedback-feedforward correction technique is performed based on the error approximation made by the Kalman Filter for better output of velocity and position of the SINS. The prototype of SINS was then examined through stationer and threedimensional low dynamic test. The stationer test results maximum error of 0.11 m for lattitude and longitude position and 1.25 m for altitude. Meanwhile the threedimensional low dynamic test results maximum error less than 2.2 m for all axes in 9 minutes elapsed time.