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고 해상도 버퍼 설계를 통한 전달 정렬의 측정치 시간 지연 보상 기법
차재혁(Jaehyuck Cha),박찬국(Chan Gook Park),김광훈(Kwanghoon Kim),권승복(Seungbok Kwon) 제어로봇시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.4
In this paper, we propose a time delay compensation method for transfer alignment using a high-resolution buffer design. Time delay degrades the performance of transfer alignment, resulting in subsequent mission failure. The value of such a time delay may not be constant and varies indefinitely depending on the system configuration or operating environment, which reduces the time delay estimation performance using general Kalman filtering. Using a state buffer is one of the methods to solve this problem. This paper presents a new time delay estimation method using a time delay candidate buffer. The proposed scheme can finely set the interval of time delay candidates and does not require a separate memory. In addition, a method for designing an appropriate time delay candidate buffer interval according to the activation of a vehicle and the performance of the MINS is presented. Simulations verified that the proposed technique could reduce the memory requirement and improve the transfer alignment performance for finely changing the time delay.
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