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

  • 제13권7호
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  • Pages.688-693
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  • 2007
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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측정잡음 분산추정 적응필터를 이용한 INS/GPS 결합 시스템

INS/GPS Integration System Using Adaptive Filter with Estimating Measurement Noise Variance

  • 발행 : 2007.07.01
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초록

The INS/GPS integration system is designed by employing an adaptive filter that can estimate the measurement noise variance using the residual of the filter. To verify the efficiency of the proposed loosely-coupled INS/GPS integration system, simulation is performed by assuming that GPS information has large position errors. Simulation results show that the proposed integration system with the adaptive filter is more effective in estimating the position and attitude errors than those with the Extended Kalman Filter.

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참고문헌

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