대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)

대한전기학회 (The Korean Institute of Electrical Engineers)
권호 표지

3차원 자세 결정용 GPS 수신기를 이용한 CDGPS/INS 통합 시스템 설계

A Development of CDGPS/INS integrated system with 3-dimensional attitude determination GPS Receiver

  • 이기원 (충남대학교 전기공학과) ;
  • 이재호 (충남대학교 전자공학과) ;
  • 서흥석 (충남대학교 전자공학과) ;
  • 성태경 (충남대학교 정보통신공학부)
  • Lee, Ki-Won (Dept. of Electrical Engineering, Chungnam National Univ.) ;
  • Lee, Jae-Ho (Dept. of Electronic Engineering, Chungnam National Univ.) ;
  • Seo, Hung-Seok (Dept. of Electronic Engineering, Chungnam National Univ.) ;
  • Sung, Tae-Kyung (Div. of Electrical and Computer Engineering, Chungnam National)
  • 발행 : 2001.07.18
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초록

For precise positioning, GPS carrier measurements are often used. In this case, accurate position having mm${\sim}$cm error can be obtained. For 3D positioning, in CDGPS, more than five carrier phase measurements are required. When GPS signals are blocked or carrier phase measurements are insufficient, it cannot provide positioning solution. By integrating CDGPS with INS, continuity of positioning solution can be guaranteed. However, when a vehicle moves in low speed or in stationary, the CDGPS/INS integrated system is difficult to compensate INS attitude errors because GPS velocity error become relatively lange. In this paper, we used the 3D attitude GPS receiver to compensate the INS attitude error. By field experiments, it is shown that the proposed integration system maintains the navigation performance even when a vehicle is in low speed or GPS signal is blocked for a period of time.

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