제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Performance Analysis and Test of according to INS/GPS Integration Methods

INS/GPS 결합방식에 따른 성능분석 및 시험

  • 노정호 (광운대학교 제어계측공학과) ;
  • 진용 (광운대학교 제어계측공학과) ;
  • 조성윤 (광운대학교 제어계측공학과) ;
  • 문성재 (광운대학교 제어계측공학과) ;
  • 박찬국 (광운대학교 제어계측공학과)
  • Published : 2000.10.01
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Abstract

In this paper, the performance of INS/GPS integration is analyzed. Generally the integration method is classified into two method. One is loosely coupled integration, Another is tightly coupled integration. For the simulation, the error model of Kalman fitter is defined and the result of simulation is analyzed. When the number of visible satellites is less than four, the error of tightly coupled integration is smaller than that of loosely coupled integration. To very the result of simulation, van test that use LP-81 IMU and Millen3151R GPS receiver is carried out.

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