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

  • 제12권5호
  • /
  • Pages.636-643
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  • 2009
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  • 1598-9127(pISSN)
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  • 2636-0640(eISSN)
한국군사과학기술학회 (The Korea Institute of Military Science and Technology)
권호 표지

NHC/ZUPT의 장착 비정렬 추정 칼만필터 설계 및 성능분석

Design and Performance Analysis of NHC/ZUPT Kalman Filter with Mounting Misalignment Estimation

  • 발행 : 2009.10.05
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초록

NHC means that the velocity of the vehicle in the plane perpendicular to the forward direction is almost zero. The main error source of NHC is the mounting misalignment which is the difference between the body frame of a land vehicle and the sensor frame of an inertial measurement unit. This paper suggests new NHC algorithm that can reduce position errors by real-time estimation of mounting misalignment. Then NHC/ZUPT integrated land navigation system is designed and its performances are analyzed by simulations with van test data. Simulation results show that the proposed NHC/ZUPT land navigation system improves navigation accuracy regardless of misalignment angle and is very useful when SDINS operates stand-alone for land vehicle navigation with large mounting misalignment.

키워드

참고문헌

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