Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 1999.07b
- /
- Pages.822-825
- /
- 1999
Performance Analysis of GPS/INS Integrated Navigation Systems
GPS/INS 통합 항법시스템의 성능분석에 관한 연구
Abstract
This paper compares two methods of GPS/INS integration ; tightly-coupled integration ana loosely-coupled integration. In the tightly -coupled method an integrated Kalman filter is designed to process raw GPS measurement data for state update and INS data for propagation. The loosely-coupled integration method uses the solution outputs from a stand-alone GPS receiver for update. The loosely-coupled method is simpler and can readily be applied to off-the-self receivers and sensors while the tightly-coupled integration requires access to raw measurement mechanism of the receiver. Simulation result show that the tightly-coupled integration system exhibits better performance and robustness than loosely-coupled integration method.
Keywords