International Journal of Control, Automation, and Systems

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Lever Arm Compensation for GPS/INS/Odometer Integrated System

  • Seo Jae-Won (School of Electrical Engineering and Computer Science, Seoul National University) ;
  • Lee Hyung-Keun (School of Electronics, Telecommunication, and Computer Engineering, Hankuk Aviation University) ;
  • Lee Jang-Gyu (School of Electrical Engineering and Computer Science, Seoul National University) ;
  • Park Chan-Gook (School of Mechanical and Aerospace Engineering and the Institute of Advanced Aerospace Technology, Seoul National University)
  • Published : 2006.04.01
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Abstract

For more accurate navigation, lever arm compensation is considered. The compensation method for GPS and an odometer is introduced and new compensation methods are proposed for an odometer to consider the effect of coordinate transformation errors and the scale factor error. The methods are applied to a GPS/INS/odometer integrated system and the simulation and experimental results show its effectiveness.

Keywords

References

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