한국항해항만학회지 (Journal of Navigation and Port Research)

  • 제28권9호
  • /
  • Pages.803-808
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  • 2004
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  • 1598-5725(pISSN)
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  • 2093-8470(eISSN)
한국항해항만학회 (Korean Institute of Navigation and Port Research)
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Periodic Bias Compensation Algorithm for Inertial Navigation System

  • 발행 : 2004.12.01
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⟨ 이전 논문 다음 논문 ⟩

초록

In this paper, an INS compensation algorithm is proposed using the accelerometer from IMU. First, we denote the basic INS algorithm and show that how to compensate the position error when low cost IMU is used. Second, considering the ship's characteristic and ocean environments, we consider with a drift as a periodic external environment change which is affected with exact position. To develop the compensation algorithm, we use a repetitive method to reduce the external environment changes. Lastly, we verify the proposed algorithm through the experiments, where the acceleration sensor is used to acquire real data.

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참고문헌

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