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- W4318214829 abstract "As we have shown previously, the vertical channel of the inertial system is unstable. In fact, if you go back to legacy gimbal systems from the 1950s, it was not uncommon for there to be no vertical channel. They did not even have a vertical accelerometer. A gimbal platform was mechanized with two orthogonal accelerometers in the horizontal plane and that was it. It was thought that there was just no point in mechanizing the vertical channel.Nevertheless, eventually it was realized that there were benefits to having an inertial vertical channel. Specifically, applications with a need for accurate vertical velocity drove this development. In the defense community, weapon delivery is one example where precise vertical velocity is important. There was thus a need to be able to stabilize the inertial vertical channel and the best available aiding sensor, prior to the advent of GNSS, was the barometric altimeter. Even to this day, aiding with a barometric altimeter is still utilized due to the fact that its availability is essentially 100% (limited only by the maintainability of the altimeter itself).As was the case with satellite-based systems such as GPS, the main idea is that the barometric altimeter (baro) provides long-term stability. Although the baro will in general exhibit bias-like error in its altitude estimate, that error does not grow as a function of time as do inertial errors. Note that as with the use of the term in inertial sensors, bias is understood to be a very low frequency, non-zero mean error component. Its variation is a function of weather changes. There is also some noise in the baro output. Finally, the baro exhibits lag in its output. Specifically, sudden changes in true altitude are not immediately reflected in the baro output. Since the inertial system has excellent dynamic response, proper integration will result in an aided vertical channel with stabilized vertical velocity, high data rate and low data latency.Before discussing the Kalman filter mechanization, we will consider some legacy fixed-gain filters and will examine their strengths and weaknesses." @default.
- W4318214829 created "2023-01-27" @default.
- W4318214829 date "2022-12-31" @default.
- W4318214829 modified "2023-09-23" @default.
- W4318214829 title "Baro-inertial vertical channel" @default.
- W4318214829 doi "https://doi.org/10.1049/sbra550e_ch23" @default.
- W4318214829 hasPublicationYear "2022" @default.
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