Initial Attitude Determination Algorithm of Electro-Optical Tracking System with Measurement Time-delay

In order to have accurate target positions of the EOTS(Electro-Optical Tracking System), more accurate navigation outputs are required. An IMU(Inertial Measurement Unit) can be attached to the EOTS to have high rate INS ouputs. Due to the time-delay of the vehicle's navigation outputs, it is not easy to have accurate target positions. When the vehicle moves at high speed and with high maneuverability, the accuracy becomes even worse. In this paper, an initial attitude determination algorithm of the EOTS with measurement time-delay is proposed. In order to compensate the measurement time-delay, the time-delay variable is augmented into the integrated Kalman filter for the IMU of EOTS and vehicle's measurement output. The proposed algorithm was evaluated for sensor's model-based measurement generator outputs, and a land vehicle experiments were performed. The evaluation results show that the proposed algorithm compensates the measurement time-delay well and gives more accurate initial attitude. © The Korean Institute of Electrical Engineers