Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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Study of ARS using Ring Laser Gyro

Ring Laser Gyro를 이용한 ARS에 관한 연구

  • 정상기 (한국해양대학교 기계시스템공학) ;
  • 최형식 (한국해양대학교 기계시스템공학) ;
  • 지대형 (한국해양대학교 기계시스템공학) ;
  • 정동욱 (한국해양대학교 기계시스템공학) ;
  • 권오순 (한국해양과학기술원) ;
  • 신창주 (한국해양과학기술원) ;
  • 서정민 (한국해양과학기술원)
  • Received : 2017.02.02
  • Accepted : 2017.04.20
  • Published : 2017.04.30
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Abstract

Studies were performed on an ARS using SDINS's RLG and the geomatic sensor. To develop the ARS, experiments were performed to determine the characteristics of the RLG and geomatic sensor. Based on the results, to reduce the angular position errors of the RLG, which accumulate from the angular velocity data, an algorithm was studied that uses the Extended Kalman filter (EKF) to compensate the RLG data and geomatic sensor data. To verify the performance of the developed algorithm for reducing the cumulative angular errors, experiments that included the developed EKF were performed. Through these, it was shown that a drastic reduction in the angular errors of the RLG were achieved.

Keywords

References

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