GPS/INS 통합 항법시스템의 성능분석에 관한 연구

Performance Analysis of GPS/INS Integrated Navigation Systems

  • 조재범 (아주대학교 제어계측공학과) ;
  • 원종훈 (아주대학교 제어계측공학과) ;
  • 고선준 (아주대학교 전자공학부) ;
  • 이자성 (아주대학교 전자공학부)
  • Cho, J.B. (Ajou University Department of Control & Instrument) ;
  • Won, J.H. (Ajou University Department of Control & Instrument) ;
  • Ko, S.J. (Department of Electronics Ajou University) ;
  • Lee, J.S. (Department of Electronics Ajou University)
  • 발행 : 1999.07.19

초록

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.

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