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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Design of INS/Image Sensor Integrated Navigation System

INS/영상센서 결합 항법시스템 설계

  • 오승진 (서울대학교 전기컴퓨터공학부) ;
  • 김우현 (서울대학교 전기컴퓨터공학부) ;
  • 이장규 (서울대학교 전기컴퓨터공학부) ;
  • 이형근 (한국항공대학교 전자.정보통신.컴퓨터공학부) ;
  • 박찬국 (서울대학교 기계항공공학부/항공우주신기술연구소)
  • Published : 2006.10.01
Download PDF
⟨ Previous Next ⟩

Abstract

The errors of INS (Inertial Navigation System) are known to grow in time. To compensate the accumulated errors, measurements of external or onboard sensors are extensively utilized to form an integrated navigation system. Recently, INS/GPS integrated navigation systems have become popular since exact position and velocity information can be utilized by low cost GPS receivers. Unfortunately, this configuration cannot be trusted at all times especially when there are intentional or unexpected jammings and interruptions. To aid INS irrespectively of these cases, an INS/Image sensor integrated navigation system configuration is designed only based on the information of image sensor gimble angles. The performance of the INS/Image sensor integrated navigation system is evaluated by Monte Carlo simulation.

Keywords

References

  1. D. H. Titterton and J. L. Weston, Strapdown Inertial Navigation Technology, Peter Peregrinus Ltd., pp. 363-382, 1997
  2. B. Ekstrand, 'Tracking filters and models for seeker applications,' IEEE Trans. On Aerospace and Electronic Systems, vol. 37, pp. 965-977, 2001 https://doi.org/10.1109/7.953250
  3. G. M. Siouris, Missile Guidance and Control Systems, Springer, pp. 102-103, 2004
  4. 박영범, 'INS/GPS/속도계 결합항법시스템의 구성 및 성능분석,' 서울대학교 전기컴퓨터 공학부 석사학위 논문, pp. 30-36, 2001
  5. 'GPS를 이용한 수직채널 안정화 및 운항중 정렬 기법 연구 최종보고서,' 국방과학연구소, 연구기관:서울대학교, 2004
  6. W.-S. Ra, I.-H. Whang, and J.-Y. Ahn, 'Robust horizontal line-of-sight rate estimator for sea skimming anti-ship missile with two-axis gimballed seeker' IEE Proc.-Radar Sonar Navig., vol. 152, 2005 https://doi.org/10.1049/ip-rsn:20041177
  7. 박준구, '스트랩다운 관성항법 시스템의 운항중 정렬을 위한 궤적에 따른 가관측성 분석,' 서울대 전기컴퓨터공학부 박사학위 논문, pp.40-61, 1996
  8. D. Goshen-Meskin and I. Y. Bar-Itzhack, 'Observability analysis of piece-wise constant systems, IEEE, vol. 28, no. 4, pp. 1056-1075, 1992 https://doi.org/10.1109/7.165368

Cited by

  1. Vision coupled GPS/INS scheme for helicopter navigation vol.24, pp.2, 2010, https://doi.org/10.1007/s12206-010-0104-2
  2. INS/Vision Integrated Navigation System Considering Error Characteristics of Landmark-Based Vision Navigation vol.19, pp.2, 2013, https://doi.org/10.5302/J.ICROS.2013.19.2.095
  3. INS/vision Integrated Navigation System in Environments with Insufficient Number of Landmarks vol.63, pp.1, 2014, https://doi.org/10.5370/KIEE.2014.63.1.123