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http://dx.doi.org/10.5574/KSOE.2017.31.2.164

Study of ARS using Ring Laser Gyro  

Jeong, Sang-Ki (Korea Maritime and Ocean University)
Choi, Hyeung-Sik (Korea Maritime and Ocean University)
Ji, Dae-Hyeong (Korea Maritime and Ocean University)
Jung, Dong-Wook (Korea Maritime and Ocean University)
Kwon, O-Soon (Korea Institute Of Ocean Science & Technology)
Shin, Chang-Joo (Korea Institute Of Ocean Science & Technology)
Seo, Jung-Min (Korea Institute Of Ocean Science & Technology)
Publication Information
Journal of Ocean Engineering and Technology / v.31, no.2, 2017 , pp. 164-169 More about this Journal
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
Ring laser gyroscope; Attitude reference system; Extended Kalman filter; Inertial navigation system; IMU;
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