ISBN: 978-981-09-5471-0 DOI: 10.18178/wcse.2015.04.058
A New Modeling Approach of Flexible Baseline for Distributed POS
Abstract— Currently distributed POS(Position and Orientation System) system has been widely used
in all kinds of aerial remote sensing equipment, while transfer alignment is just an important link of
distributed POS. In traditional transfer alignment model, flexural deflections of wings are ignored, so
that flexural deflection of flexible baseline brought by internal and external interference will be
introduced into actual system work. Thus new transfer alignment model must be built, and generally
there are three approaches: First, H∞ filtering algorithm with stronger robustness is adopted rather
than wings modeling, however, its filtering precision and convergence rate are lower than that of
Kalman filtering; Second, transducer are adopted to detect bending deflections of wings, but with the
improvement of POS precision, test data provided by PVDF(Polyvinylidene Fluoride) can no longer
meet the requirements of measurement; Third, angle observed quantity of flexural deflections are
added into Kalman filter formulation, and motion equation of flexible wings is established to estimate
and compensate for deformation angles. This modeling method could conclude the structure of aerial
carrier, and in this thesis, aeroelasticity is applied to regard wings as cantilever model of Timoshenko
type, and it’s also added in to filter equation of transfer alignment to make the modeling more flexible.
The simulation results show that estimated accuracy of x direction and y direction is very high, error
of estimation is less than 3'; estimated accuracy of z direction is lower, the error of estimation is less
than 5', the error of flexural deflection angle is less then 1', which shows that installation error angle
and flexural deflection could be estimated effectively by using the model established in this thesis.
Index Terms— Distributed POS, Transfer Alignment, Flexible Baseline, Error Model
Guo Tao, Zhuangsheng Zhu
Beihang University, CHINA
Cite: Guo Tao, Zhuangsheng Zhu, "A New Modeling Approach of Flexible Baseline for Distributed POS," 2015 The 5th International Workshop on Computer Science and Engineering-Information Processing and Control Engineering (WCSE 2015-IPCE), pp. 350-356, Moscow, Russia, April 15-17, 2015.