제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제4권1호
  • /
  • Pages.62-67
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  • 1998
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  • 1976-5622(pISSN)
  • /
  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지

상태변수 추정을 이용한 김발형 관성항법시스템의 교정기법에 대한 연구

Calibration of gimballed inertial navigation systems using state estimation

  • 김갑진 (한양대학교 제어계측공학과) ;
  • 송택렬 (한양대학교 제어계측공학과)
  • Kim, Gap-Jin (Dept. of Control and Instrumentation Engineering, Hanyang University) ;
  • Song, Taek-Ryeol (Dept. of Control and Instrumentation Engineering, Hanyang University)
  • 발행 : 1998.02.01
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초록

Gimballed Inertial Navigation Systems(GINS) are sophisticated autonomous electro-mechanical systems which supply the position, velocity and attitude of the vehicle on which they are mounted. In order to maintain accuracy of outputs, the GINS are required to regularly calibrate senior errors. However, existing calibration methods take up a long time due to multiposition alignments needed to increase accuracy. A particular system formulation for calibration of a GINS is proposed to enhance system observability and thus to expedite calibration procedure. Performance of the proposed calibration method is compared with existing methods such as Schuler test and muliposition alignment. Simulation studies show the proposed system formulation associated with a suggested suboptimal filter is accurate as well as efficient in error identification essential to GINS calibration.

키워드

참고문헌

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