Browse > Article
http://dx.doi.org/10.5302/J.ICROS.2013.19.2.140

A Study on GPS/INS Integration Considering Low-Grade Sensors  

Park, Je Doo (Korea Aerospace Industries)
Kim, Minwoo (Hyundai-Rotem)
Lee, Je Young (Korea Aerospace University)
Kim, Hee Sung (Korea Aerospace University)
Lee, Hyung Keun (Korea Aerospace University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.2, 2013 , pp. 140-145 More about this Journal
Abstract
This paper proposes an efficient integration method for GPS (Global Positioning System) and INS (Inertial Navigation System). To obtain accuracy and computational conveniency at the same time with low cost global positioning system receivers and micro mechanical inertial sensors, a new mechanization method and a new filter architecture are proposed. The proposed mechanization method simplifies velocity and attitude computation by eliminating the need to compute complex transport rate related to the locally-level frame which continuously changes due to unpredictable vehicle motions. The proposed filter architecture adopts two heterogeneous filters, i.e. position-domain Hatch filter and velocity-aided Kalman filter. Due to distict characteristics of the two filters and the distribution of computation into the two hetegrogeneous filters, it eliminates the cascaded filter problem of the conventional loosly-coupled integration method and mitigates the computational burden of the conventional tightly-coupled integration method. An experiment result with field-collected measurements verifies the feasibility of the proposed method.
Keywords
GPS; INS; mechanization; integration; Hatch filter; Kalman filter;
Citations & Related Records
연도 인용수 순위
  • Reference
1 E. Akim and D. Tuchin, "GPS errors statistical analysis for ground receiver measurements," Proc. of 17th International Symposium on Space Flight Dynamics; Preprint no. 32, Moscow, 2003.
2 O. L. Colombo, "Ephemeris errors of GPS satellite," Bulletin Geodesique, vol. 60, no. 1, Paris, 1986.
3 D. Jefferson and Y. Bar-Sever, "Accuracy and consistency of broadcast GPS ephemeris data," Proc. of ION GPS2000, Salt Lake City, 2000.
4 D. H. Trtterton and J. L. Weston, Strapdown Inertia Navigation Technology, Peter Peregrinus Ltd, 1997.
5 J. A. Farrell and M. Barth, The Global Positioning System & Inertial Navigation, McGraw-Hill, New York, 1999.
6 S. Hong, M. H. Lee, S. K. Kwon, and H. H. Chun, "Car test for the estimation of GPS/INS alignment errors," IEEE Tr. Intell, Transport. System., vol. 5, no. 3, pp. 208-218. Sep. 2004.   DOI   ScienceOn
7 H. Fournier, Automated Processing of GPS/MEMS-IMU Data for Position, Velocity and Attitude Determination, Thesis, EPSL, 2009.
8 E. Realini, D. Yoshida, M. Reguzzoni, and V. Raghavan, "Testing goGPS low-cost rtk positioning with a web-based track log management system," Proc. International Workshop on Pervasive Web Mapping, Geoprocessing and Services, 2010.
9 Y. Li, M. Efatmaneshnik, and A. G. Dempster, "Attitude determination by integration of MEMS inertial sensors and GPS for autonomous agriculture applications," GPS Solutions, On-line Publication, 2010.
10 K. J. Kim, C. G. Park, and Y. B. Park, "INS/GPS Tightly Coupled Algorithm based on Unscented Transform," Proc. GNSS Workshop (in Korean), 2005.
11 A. K. Stimac, Precision Navigation for Aerospace Applications, Thesis, MIT, 2004.
12 H. K. Lee and C. Rizos, "Position-domain Hatch Filter for Kinematic differential GPS/GNSS," IEEE Tr. Aerospace and Electronic Systems, vol. 44, no. 1, pp. 30-40, 2008.   DOI   ScienceOn
13 J. G. Park, A Study on INS/GPS integration method using GPS carrier phase rate , Thesis (in Korean), Seoul National University, 2001.