제어로봇시스템학회:학술대회논문집
- 2002.10a
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- Pages.33.1-33
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- 2002
Measurement Delay Error Compensation for GPS/INS Integrated Systems
Abstract
The INS provides high rate position, velocity and attitude data with good short-term stability while the GPS provides position and velocity data with long-term stability. By integrating the INS with GPS, a navigation system can be achieved to provide highly accurate navigation performance. For the best performance, time synchronization of GPS and INS data is very important in GPS/INS integrated system. But, it is impossible to synchronize them exactly due to the communication and computation time-delay. In this paper, to reduce the error caused by the measurement time-delay in GPS/INS integrated systems, error compensation methods using separate bias Kalman filter are suggested for both the...
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