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

The Korea Institute of Military Science and Technology (한국군사과학기술학회)
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Design of INS/GNSS/TRN Integrated Navigation Considering Compensation of Barometer Error

기압고도계 오차 보상을 고려한 INS/GNSS/TRN 통합항법 설계

  • Lee, Jungshin (The 3rd Research and Development Institute, Agency for Defense Development) ;
  • Sung, Changky (The 3rd Research and Development Institute, Agency for Defense Development) ;
  • Park, Byungsu (The 3rd Research and Development Institute, Agency for Defense Development) ;
  • Lee, Hyungsub (The 3rd Research and Development Institute, Agency for Defense Development)
  • 이정신 (국방과학연구소 제3기술연구본부) ;
  • 성창기 (국방과학연구소 제3기술연구본부) ;
  • 박병수 (국방과학연구소 제3기술연구본부) ;
  • 이형섭 (국방과학연구소 제3기술연구본부)
  • Received : 2018.11.05
  • Accepted : 2019.02.25
  • Published : 2019.04.05
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Abstract

Safe aircraft requires highly reliable navigation information. The traditionally used inertial navigation system (INS) often displays faulty location information due to its innate errors. To overcome this, the INS/GNSS or INS/TRN integrated navigation can be used. However, GNSS is vulnerable to jamming and spoofing, while TRN can be degraded in the flat and repetitive terrains. In this paper, to improve the performance and ensure the high reliability of the navigation system, the INS/GNSS/TRN integrated navigation based on federated filter is designed. Master filter of the integrated navigation uses the estimates and covariances of two local filters - INS/GNSS and INS/TRN integrated filters. The local filters are designed with the EKF that is feedforward type and composed of the 17st state variables. And the INS/GNSS integrated navigation includes the barometer error compensation method. Finally, the proposed INS/GNSS/TRN integrated navigation is verified by vehicle and captive flight tests.

Keywords

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Fig. 1. Block diagram of federated filter based INS/GNSS/TRN integrated navigation

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Fig. 2. Altitude error of INS/GNSS navigation

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Fig. 3. Horizontal error of INS/GNSS navigation

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Fig. 4. Horizontal error of INS/GNSS navigation

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Fig. 5. Horizontal navigation error of CFT

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Fig. 6. Vertical navigation error of CFT

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Fig. 7. Navigation error in GNSS denied environment

Table 1. Filter design parameter

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Table 2. Result of CFT

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