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http://dx.doi.org/10.5139/JKSAS.2013.41.6.481

Lever Arm Error Compensation of GPS/INS Integrated Navigation by Velocity Measurements  

Park, Je Doo (Korea aerospace industries)
Kim, Minwoo (Hyundai-Rotem)
Kim, Hee Sung (Korea Aerospace University)
Lee, Je Young (Korea Aerospace University)
Lee, Hyung Keun (Korea Aerospace University)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.41, no.6, 2013 , pp. 481-487 More about this Journal
Abstract
In GPS(Global Positioning System)/INS(Inertial Navigation System) integrated navigation systems, GPS antennas and an inertial measurement units are usually installed outside and inside of the vehicle, respectively. By the difference of installed locations, performance of GPS/INS integrated navigation systems is affected by lever arm errors. For more accurate navigation, lever arm errors need to be compensated correctly since it directly affects the accuracy of navigation states. This paper proposes an effective lever arm error compensation method that utilizes velocity measurements of GPS and INS. By an experiment, feasibility of the proposed algorithm is verified. It is also shown that lever arm compensation is especially important when vehicles are experiencing rotational movements.
Keywords
GPS/INS; Lever Arm; Velocity; Compensation;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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