Research on transfer alignment for increased speed and accuracy

---

Tezin Türü: Doktora

Tezin Yürütüldüğü Kurum: Orta Doğu Teknik Üniversitesi, Fen Bilimleri Enstitüsü, Fen Bilimleri Enstitüsü, Türkiye

Tezin Onay Tarihi: 2012

Öğrenci: UĞUR KAYASAL

Danışman: MUSTAFA KEMAL ÖZGÖREN

Özet:

In this thesis, rapid transfer alignment algorithm for a helicopter launched guided munition is studied. Transfer alignment is the process of initialization of a guided munition’s inertial navigation system with the aid of the carrier platform’s navigation system, which is generally done by comparing the navigation data of missile and carrier’s navigation data. In the literature, there are different studies of transfer alignment, especially for aircraft launched munitions. One important problem in transfer alignment is the attitude uncertainty of lever arm between munition’s and carrier’s navigation systems. In order to overcome this problem, most of the studies in the literature do not use carrier’s attitude data in the transfer alignment, only velocity data is used. In order to estimate attitude and related inertial sensor errors, specific maneuvers of carrier platform are required which can take 1-5 minutes. The purpose of this thesis is to compensate the errors arising from the dynamics of the Helicopter, lever arm, mechanical vibration effects and inertial sensor error amplification, thus designing a transfer alignment algorithm under real environment conditions. The algorithm design begins with observability analysis, which is not done for helicopter transfer alignment in literature. In order to make proper compensations, characterization and modeling of vibration and lever arm environment is done for the helicopter. Also, vibration based errors of MEMS based inertial sensors are experimentally shown. The developed transfer alignment algorithm is tested by simulated and experimental data.