제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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In - Motion Alignment Method for a Low - cost IMU based GPS/INS System

  • Kim, Jeong-Won (Department of Electronics Engineering, Chungnam National University) ;
  • Oh, Snag-Heon (Department of Electronics Engineering, Chungnam National University) ;
  • Hwang, Dong-Hwan (School of Electrical and Computer Engineering, Chungnam National University)
  • Published : 2003.10.22
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Abstract

When the low cost IMU is used, the result of the stationary self alignment is not suitable for navigation. In this paper, an in-motion alignment method is proposed to obtain an accurate initial attitude of a low cost IMU based GPS/INS integration system. To design Kalman filter for alignment, large heading error model is introduced. And then Kalman filter is designed to estimate initial attitude error as the indirect feedback filter. In order to assess performance of the alignment method, computer simulations are carried out. The simulation results show that initial attitude error rapidly reduces.

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