Browse > Article
http://dx.doi.org/10.9766/KIMST.2019.22.2.197

Design of INS/GNSS/TRN Integrated Navigation Considering Compensation of Barometer Error  

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)
Publication Information
Journal of the Korea Institute of Military Science and Technology / v.22, no.2, 2019 , pp. 197-206 More about this Journal
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
Terrain Referenced Navigation; Federated Filter; Barometer; Integrated Navigation; Global Navigation Satellite System;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 M. S. Grewal, L. R. Weill and A. P. Andrews, "Global Positioning System, Inertial Navigation, and Integration," John Wiley & Sons, Inc. Canada, pp. 382-424, 2007.
2 H. Jeon, W. Park and C. G. Park, “Grid Design for Efficient and Accurate Point Mass Filter-Based Terrain Referenced Navigation,” IEEE Sensors Journal, Vol. 18, No. 4, pp. 1731-1738, 2018.   DOI
3 J. Melo and A. Matos, “Survey on Advances on Terrain Based Navigation for Autonomous Underwater Vehicles,” Ocean Engineering, Vol. 139, No. 15, pp. 250-264, 2017.   DOI
4 N. A. Carlson, “Federated Square Root Filter for Decentralized Parallel Processes,” IEEE Transaction on Aerospace and Electronic Systems, Vol. 26, No. 3, pp. 517-525, 1990.   DOI
5 N. A. Carlson and M. P. Berarducci, "Federated Kalman Filter Simulation Results," NAVIGATION: Journal of the Institute of Navigation, Vol. 41, Issue 3, pp. 297-322, 1994.   DOI
6 J. S. Ausman, "A Kalman Filter Mechanization for the Baro-Inertial Vertical Channel," Proceedings of the 47th Annual Meeting of The Institute of Navigation, pp. 153-159, June, 1991.
7 V. Sokolovi, G. Diki and R. Stan, “Adaptive Error Damping in the Vertical Channel of the INS/GPS/Baro-Altimeter Integrated Navigation System,” Scientific Technical Review, Vol. 64, No. 2, pp. 14-20, 2014.
8 J. Park, D. S. Lee and C. Park, "Implementation of Vehicle Navigation System using GNSS, INS, Odometer and Barometer," Journal of Positioning, Navigation, and Timing, Vol. 4, No. 3, pp. 141-150, 2015.   DOI
9 J. Seo, J. G. Lee and C. G. Park, "A New Error Compensation Scheme for INS Vertical Channel," IFAC Automatic Control in Aerospace, Vol. 37, Issue 6, pp. 1119-1124, 2004.
10 J. Lee and H. Bang "Radial Basis Function Network-Based Available Measurement Classification of Interferometric Radar Altimeter for Terrain-Aided Navigation," IET Radar, Sonar & Navigation, Vol. 12, Issue 9, pp. 920-930, 2018.   DOI
11 S. Nam, “Performance Enhancing Technique for Terrain Referenced Navigation Systems using Terrain Roughness and Information Gain Based on Information Theory,” Journal of the Korea Institute of Military Science and Technology, Vol. 20, No. 3, pp. 307-314, 2017.   DOI