Journal of Advanced Navigation Technology (한국항행학회논문지)

The Korean Navigation Institute (한국항행학회)
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Performance Improvement of Azimuth Estimation in Low Cost MEMS IMU based INS/GPS Integrated Navigation System

저가형 MEMS 관성측정장치 기반 INS/GPS 통합 항법 장치에서 방위각 추정 성능 향상

  • Chun, Se-Bum (Satellite Navigation Team, Korea Aerospace Research Institute) ;
  • Heo, Moon-Beom (Satellite Navigation Team, Korea Aerospace Research Institute)
  • 천세범 (한국항공우주연구원 위성항법팀) ;
  • 허문범 (한국항공우주연구원 위성항법팀)
  • Received : 2012.09.14
  • Accepted : 2012.10.30
  • Published : 2012.10.30
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Abstract

Kalman filter is generally used in INS/GPS integrated navigation filter. However, the INS with low performance inertia sensor can not find accurate azimuth in initial alignment stage because sensor noise level is too large compare to Earth rotation rate, therefore the performance and stability of Kalman filter can not be guaranteed. In this paper, the extended Kalman filter and particle filter combined filter structure which can be overcome large initial azimuth error is proposed.

INS/GPS 통합 항법 필터는 주로 칼만 필터를 이용하여 구성되고 있다. 그러나 낮은 성능의 관성 센서를 이용한 INS/GPS 통합 항법 필터의 경우 센서 오차 레벨 등의 문제로 인해 정확한 방위각 정보의 제공이 곤란하며, 이로 인해 통합 필터를 구성하는 칼만 필터의 추정 성능이나 안정성을 보장할 수 없게 된다. 본 논문에서는 칼만 필터와 파티클 필터의 결합된 형태의 국지선형 파티클 필터를 이용하여 초기 방위각 오차를 극복할 수 있는 방법을 제시하였다.

Keywords

References

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Cited by

  1. DWT와 GPS/INS융합 알고리즘을 이용한 수면이동체의 위치 인식 vol.10, pp.1, 2012, https://doi.org/10.7746/jkros.2015.10.1.001