제어로봇시스템학회:학술대회논문집
- 2001.10a
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- Pages.141.5-141
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- 2001
Error Analysis of the Navigation System Integrating Attitude GPS and low-Cost INS
- Lee, Jae-Ho (Chungnam National Univ.) ;
- Seo, Hung-Serk (Chungnam National Univ.) ;
- Sung, Tae-Kyung (Chungnam National Univ.) ;
- Lee, Sang-Jeong (Chungnam National Univ.)
- Published : 2001.10.01
Abstract
An attitude GPS receiver with 3 antennas obtains 3-dimensional attitude using GPS carrier phase measurement INS obtains the 3 dimensional navigation solution for IMU consisting of accelerometers and gyro. Ground-alignment process for the low -cost INS cannot be performed well due to the large sensor noise. Using the standard GPS receiver, however, continuous in-flight alignment for the INS becomes possible, and consequently, the errors in IMU sensors and navigation solution can be compensated. Especially with attitude measurement from the attitude GPS receiver, the compensation of errors in gyroscope and attitude would be done respite of the vehicle´s dynamics and their error covariance would be reduced. This paper presents ...
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