Journal of the Korea Institute of Military Science and Technology (한국군사과학기술학회지)

The Korea Institute of Military Science and Technology (한국군사과학기술학회)
권호 표지

Navigation Accuracy Improvement of High Dynamic GPS Receiver using Adaptive Kalman Filter

적응 칼만필터를 이용한 고가속 GPS 수신기의 항법정확도 향상

  • Published : 2009.02.05
Download PDF
⟨ Previous Next ⟩

Abstract

An adaptive Kalman filter is designed as a post-navigation filter to improve the accuracy of GPS receiver's navigation performance in high dynamic environments. Not only the adaptive Kalman filter reduces the large noise error of navigation data which is obtained by least square method, but also the filter is not degraded as normal Kalman filter in high acceleration movements because the system noise is estimated. Also an initialization structure of the filter is desisted in consideration for irregular output condition of navigation data by least squared method such as reacquisition status in GPS receiver. The filter performance is verified by GPS simulator which has the simulation capability of high velocity and acceleration. Finally, a vehicle test including DGPS is executed to conform the real improvement of that filter performance. This filter can be applied to various data measurement systems to improve accuracy in high dynamic conditions besides GPS receiver.

Keywords

References

  1. Elliot D. Kaplan, GPS Understanding GPS Principles and Applications, Artech House, 1999
  2. Pratap Misra, Per Enge, Global Positioning System Signals, Measurements and Performance, Ganga-Jamuna Press, 2001
  3. Braasch, M. S and Van Dierendonck, A. J., 'GPS Receiver Architectures and Measurements', Proceedings of Aerospace Conference, IEEE, Vol. 87, 1999 https://doi.org/10.1109/5.736341
  4. GPS Joint Program Office, NAVSTAR GPS User Equipment Introduction, Public Release Version, Feb. 1991
  5. 김대제, 이정엽, 김정하, 윤복중, 나정훈, 정승권, '다중 GPS 수신기를 이용한 동적환경에서의 GPS위치 측위 정밀도 향상', 한국군사과학기술학회 종합학술대회, 2008
  6. 강설묵, 이상정, '고기동 항체의 위치추적용 GPS중계기 설계/제작', 한국군사과학기술학회지, 제6권 제1호, pp. 39-48, 2003
  7. Kalman, R. E., 'A New Approach to Linear Filtering and Prediction Problems', Journal of Basic Engineering, Vol. 82D, 1960
  8. Brown, Robert Grover and Patrick Y. C. Hwang, Introduction to Random Signals and Applied Kalman Filtering, 3rd Edition, John Wiley & Sons, 1997
  9. Gelb, A., et al. Applied Optimal Estimation, MIT Press, Cambridge, 1992
  10. O. Salychev, Inertial Systems in Navigation and Geophysics, Bauman MSTU Press, Moscow, 1998
  11. Tae Gyoo Lee, 'Centralized Kalman Filter with Adaptive Measurement Fusion : its Application to a GPS/SDINS Integration System with an Additional Sensor', International Journal of Control, Automation and Systems, Vol. 4, 12, 2003
  12. 유명종, '측정잡음 분산추정 적응필터를 이용한 INS/GPS 결합 시스템', 제어로봇시스템학회지, 13권 7호, 2007
  13. 유명종, 'INS/GPS를 위한 적응필터 구성', 제어로봇시스템학회지, 11권 8호, pp. 717-725, 2005
  14. 송종화, 지규인, 김광훈, '칼만필터 기반의 통합GPS 수신기 추적루프 설계', 제어로봇시스템학회지, 14권 9호, pp. 939-947, 2008