EXAMPLE FROM: GREWAL (CH.

9)

GREWAL, SEC. 9.5.4.1: VERTICAL CHANNEL DAMPING WITH BAROMETRIC ALTIMETER

EXPO. CORR. PROCESS OF ALTIMETER (NO INS ACCELEROMETER)

SEC. 9.5.4.2 CAROUSELING

FEBRUARY 6, 2012, IITB

AE 457 M, AE 641: Navigation and Guidance

March 11, 2011
 Grewal, Sec. 9.5.4.1: Vertical Channel Damping with Barometric
Altimeter

 Measurement interval: DeltaT = 10 s;

 Altimeter process noise: modeled as an exponentially correlated error with parameters :
variance: sigma altitude^2 = (100 m)^2
altimeter offset correlation time, TauAltimeter = 10*3600 s; % [10 hours]
white noise sequence that generates exponentially correlated process :
Qaltimeter = SigmaAltitude^2 * (1-exp(-2*DeltaT/TauAltimeter)) = 2.36^2 m^2;
 Altimeter measurement white noise variance : Raltimeter = 10^2 meter^2;
 % Caution: There is an error in Grewal's formulation; Instead of 1/Tschuler, he should have
8^0.5 * pi/TSchuler, and TSchuler = 5066 s
 Schuler period [sec] according to Grewal: TSchuler = 5046 s;
 TSchulerM = 5066/(8^0.5*pi) s; % to correct for Grewal’s error
Expo. Corr. Process of Altimeter (No INS accelerometer): true, measurements, and estimate;
altimeter Expo-Corr. Steady-state measurement error variance: SigmaAltitude^2 = (100 m)^2; Tau Altimeter = 10
hrs; Input white sequence process noise variance: Qaltimeter = SigmaAltitude^2 *(1-exp(-2*DeltaT/TauAltimeter))=
2.36^2 m^2; Altimeter measurement white noise sigma : 10 meter

-40
x:true
x:est
-50
z:meas

-60

-70
x:true, x:est, x:meas

-80

-90

-100

-110

-120

-130

-140
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
time (hrs)
Expo. Corr. Process of Altimeter (No INS accelerometer): Its estimation
Kalman Gain

0.22

0.2

0.18
Kalman Gain

0.16

0.14

0.12

0.1

0.08
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5
Time (hrs)
Expo. Corr. Process of Altimeter (No INS accelerometer): true, measurements, and estimate;
altimeter error variance: SigmaAltitude^2 = (100 m)^2; Tau Altimeter = 10 hrs;
Input white sequence process noise variance: Qaltimeter = SigmaAltitude^2 *(1-exp(-2*DeltaT/TauAltimeter))= 2.36^2
m^2; Altimeter measurement white noise sigma : 10 meter

steady-state altitude variance0.5 = 100 m; altimeter = 10 hrs; meas. noise = 10 m

15

error
- error
10 est error

5
 error, - error, est error

-5

-10

-15
0 200 400 600 800 1000 1200 1400 1600 1800
Time (s)
 Vertical Channel Damping with Barometric Altimeter: Original
Grewal, Sec. 9.5.4.1:
Incorrect Code [T_Schuler should be T_Schuler/(8^0.5*pi)]

6
INS Vertical Channel Uncertainties for Various Accelerometer Noise Levels
10
Altimeter Damping
Undamped 102 m/s/sqrt(hr)
5
10

101 m/s/sqrt(hr)
RMS INS Altitude Uncertainty [meter]

4
10

100 m/s/sqrt(hr)
3
10

10-1 m/s/sqrt(hr)
2
10
10-2 m/s/sqrt(hr)

1
10

0
10

-1
10
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
INS Running Time from Initialization [hours]
Grewal, Sec. 9.5.4.1: Vertical Channel Damping with Barometric Altimeter:
Corrected Code [T_Schuler is T_Schuler/(8^0.5*pi)]: Altitude error

7
INS Vertical Channel Uncertainties for Various Accelerometer Noise Levels
10
102 m/s/sqrt(hr)
Altimeter Damping
6 Undamped
10
101 m/s/sqrt(hr)

5
10
100 m/s/sqrt(hr)
RMS INS Altitude Uncertainty [meter]

4
10
10-1 m/s/sqrt(hr)
10-2 m/s/sqrt(hr)
3
10

2
10

1
10

0
10

-1
10
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
INS Running Time from Initialization [hours]
Grewal, Sec. 9.5.4.1: Vertical Channel Damping with Barometric Altimeter:
Corrected Code [T_Schuler is T_Schuler/(8^0.5*pi)]: Velocity error

INS
1
Vertical Channel Uncertainties for Accelerometer Noise Level 0.01 m/s/hr 0.5
10
Undamped
Altimeter Damping
RMS INS vertical speed Uncertainty [meter/s]

0
10

-1
10

-2
10
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
INS Running Time from Initialization [hours]
Grewal, Sec. 9.5.4.1: Vertical Channel Damping with Barometric Altimeter:
Corrected Code [T_Schuler is T_Schuler/(8^0.5*pi)]: Kalman Gains

0.5
K-height
K-vert. speed
0.4 K-altimeter
Kalman gain for the 0.01 m/s/hr0.5

0.3

0.2

0.1

-0.1

-0.2
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (hr)
In steady-state, INS altitude error is the same as baro-altimeter error, as
expected intuitively

INS
2
Vertical Channel Uncertainties for Accelerometer Noise Level 0.01 m/s/hr 0.5
10
INS and Altimeter Exp. Corr. Noise Uncertainty [meter]

INS
Altimeter

1
10

0
10
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
INS Running Time from Initialization [hours]
Brown & Hwang, Prob. 10.1: Baro-Inertial Vertical Channel Stabilization:
deltaT = 1 s; accelerometer white noise PSD = 0.13889 (m/s^2)/(rad/s);
Baro errors: exp. corr. variance sig^2 = (100 m)^2; tau_altim = 300 s;
q_baro=sig^2 * (2*beta*dt)=8.16^2 m^2; meas. white noise variance = R = (10 m)^2

Ex. 10.1 Baro Error Gauss-Markov SD: 100 m, Accel. PSD 0.14 (m/s 2)/(r/s)
RMS INS vert. pos. error, baro error (m)

120

100

80
RMS INS vert. pos. error
60 baro error

40

20

0
0 100 200 300 400 500 600 700 800 900 1000
time (s)

3.5
RMS INS vert. vel. error (m/s)

2.5

1.5

0.5

0
0 100 200 300 400 500 600 700 800 900 1000
time (s)
Nav errors caused by 10 μg north accelerometer bias:
with and without platform carousel; carousel period 5 minutes (1/3)

14 hours simulated gimbaled INS errors from 10 micro-g N acc. bias

No carouseling
120
carouseling

100
North position error [meter]

80

60

40

20

0
-80 -60 -40 -20 0 20 40 60 80
East position error [meter]
Nav errors: north error vs. time; east error vs. time

Gimbaled IMU -- No carouseling,10 g N acc. bias

150
East and North position errors

east error
100 north error

50

-50

-100
0 2 4 6 8 10 12 14
Time (hr)

Gimbaled IMU, with carouseling east error

East and North position errors (m)

4 north error

-2

-4
0 2 4 6 8 10 12 14
Time (hr)
Carousel rotation angle α

350

300

250
carousel angle  (deg)

200

150

100

50

0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
Time (hr)