• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.28 no.5
• /
• pp.531-537
• /
• 2010

Real-time Aerial Monitoring System performs the rapid mapping in an emergency situation so that the geoinformation could be constructed in near real time. In this system, the position and attitude information from GPS/INS integration algorithm is used to perform the aerial triangulation(AT) without GCPs. Therefore, if we obtain Exterior Orientation(EO) estimates from AT sequentially, EO are used as the measurements in the Kalman filter. In this study, we simulate the GPS/IMS/Image data for an UAV-based aerial monitoring system and compare the GPS/INS/AT with and without from AT. Comparative analysis showed that result from the GPS/INS/AT with EO update is more accurate than without the update. However, when the vehicle turns, the position error significantly increases which need more analysis in the future.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.2 no.2
• /
• pp.186-196
• /
• 1999

The CPS provides data with long-term stability independent of passed time and the INS provides high-rate data with short-term stability. By integrating these complementary systems, a highly accurate navigation system can be achieved. In this paper, a loosely-coupled GPS/INS integration system is designed. It is a simple structure and is easy to implement and preserves independent navigation capability of GPS and INS. The integration system consists of a NCU, an IMU, a GPS receiver, and a monitoring system. The navigation algorithm in the NCU is designed under the multi-tasking environment based on a real-time kernel system and the monitoring system is designed using the Visual C++. The integrated Kalman filter is designed as a feedback formed 15-state filter, in which the states are position errors, velocity errors, attitude errors and sensor bias errors. The van test result shows that the integrated system provides more accurate navigation solution then the inertial or the GPS-alone navigation system.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.55-55
• /
• 2000

This paper presents a fault detection and isolation(FDI) method based on Ceneralized Likelihood Ratio(GLR) test for the tightly coupled INS/GPS. State and measurement GLR tests detect INS or GPS fault. Once the fault is detected, Multi-hypothesized GLR scheme performs the fault isolation between INS and GPS and find which satellite malfunctions. Simulation results show that the GLR method is effective enough to detect and isolate a fault of the integrated navigation system.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.39 no.4
• /
• pp.362-369
• /
• 2011

In this paper, vSLAM aided integrated navigation system is implemented and performance analysis of the system is completed via flight test. The system can suppress divergence of position error of INS only system by updating vSLAM correction information when temporary GPS signal outage occurs in bad radio condition. In the flight test, integrated hardware containing GPS, IMU and camera is loaded under RC electric helicopter. Performance of the integrated navigation system is verified by comparing estimated position of INS/vSLAM system with that of INS only system.

• Journal of Korean Society of Transportation
• /
• v.24 no.2 s.88
• /
• pp.79-89
• /
• 2006

The purpose of this study is to propose a new method using the GPS-INS integrated system which measures the superelevation of a curved yoad rapidly and safely Also, using the CPS-INS integrated system. this Paper is to analyze the expected accuracy of the superelevation on the roads which are already opened for traffic. The superelevation of the roads which are already opened for traffic often changes by roads rehabilitation work such as resurfacing of Pavement and rutting However, it is difficult to measure 1,he changes of road geometry because or the high cost and the safety problem. If the measurement of superelevation using GPS-INS integrated system is used instead of existing conventional surveying method, the superelevation of road is expected to be measured accurately(under 0.4% RMSE) just by driving without interfering the traffic Therefore, the application of the GPS-INS integrated system is expected to be useful tool for measuring the superelevation of the roads.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.36 no.4
• /
• pp.393-398
• /
• 2008

This paper suggests a GPS/INS navigation computer architecture that can be applied to small satellites. In order to implement a GPS/INS navigation system on a small satellite, the extreme environment in space such as radiation, micro-gravity, vacuum, etc. must be considered. In addition, a real-time processing ability is required for the GPS/INS navigation system since the formation flying of multiple small satellites is the ultimate goal. The developed navigation electronics utilizes a PowerPC-type MPC860T that has space environment heritage, and a pair of Atmega128s that has been implemented in KAUSAT-2 and has completed the space environment verification tests. The navigation algorithm is designed to work in VxWorks environment, ported in MPC860T.

• Proceedings of the KIEE Conference
• /
• 2007.07a
• /
• pp.296-297
• /
• 2007

본 논문에서는 심층 결합 GPS/INS 통합 항법 시스템의 A/J 성능 평가를 위한 실험 시스템 구성 및 평가 결과를 제시하고자 한다. 심층 결합 GPS/INS 통합 항법 시스템에서는 일반적인 수신기의 A/J 성능 판단 기준인 'loss-of-lock'을 이용하여 성능을 판단하기 어렵기 때문에 실험 시스템을 구성하여 성능을 평가하고자 한다. 구성된 실험 시스템을 이용하면 여러가지 간섭 신호에 대한 실험이 가능하며, 실험 결과에서 심층 결합 GPS/INS 통합 항법 시스템의 성능이 A/J 기법 중 하나인 INS의 속도 정보를 신호 추적 루프에 인가하는 기법보다 우수하다는 것을 확인할 수 있다.

• Proceedings of the Korean Information Science Society Conference
• /
• 2001.04a
• /
• pp.118-120
• /
• 2001

본 논문에서는 GPS(Global Positioning System)와 관성 항법 시스템(INS: Inertial Navigation System 이하 INS)을 혼합 구성한 수신보드의 운영을 위한 Embedded 운영체제를 설계하고 구현하였다. 이 운영체제는 실시간으로 인공위성과 IMU로부터 수신되어지는 Raw Measurement 획득, GPS 항법, 자세 결정, 통합항법, 위성 추적을 수행하는 태스크들을 우선순위 기반으로 처리하는 선점형(Premptive) 스케줄링 방식을 채택한 실시간 운영 체제이다. 본 논문에서는 자세 결정용 GPS와 INS를 이용한 통합시스템보드를 위한 실시간 운영체제의 개발 환경, 운영체제의 구조, 개발 내용과 실험내용에 대해 언급하였다.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.46 no.7
• /
• pp.592-601
• /
• 2018

The GPS/INS integrated navigation system, which is one of the electronic equipments mounted on military aircraft store, can not directly receive GPS signals by the aircraft wing before the drop, so GPS navigation data is received from the aircraft and used for filter integration, afterwards, the integrated navigation is performed using the GPS information directly received through the antenna. In this case, it is possible to operate the mount in old aircraft without any modification of the aircraft when GPS data is transmitted using wireless. However, the delay occurs while the aircraft navigation data is transmitted to the integrated navigation filter of the aircraft store via wireless, which affects the time synchronization of the GPS measurement and the INS information, affecting the integrated navigation performance. In this paper, an algorithm to analyze and compensate the effect of generation and transmission delay that can occur when implementing GPS/INS integrated navigation system of aircraft store that receives GPS data via wireless.

• Journal of Advanced Navigation Technology
• /
• v.8 no.2
• /
• pp.112-119
• /
• 2004

This paper proposes an attitude determination GPS/INS integrated system scheme for a UAV and presents experimental flight test results. The proposed system is designed as a part of an autopilot system and comprises a GPS attitude determination receiver, an off-the-shelf inertial measurement unit (IMU), and a navigation computer unit (NCU). UAV requires accurate attitude information for stable automatic flight control. The proposed system can provide accurate attitude information for the flight control computer (FCC) so that stable automatic flight control can be achieved. In order to verify the performance of the proposed scheme, an integrated navigation system has been developed. In order to evaluate the developed navigation system, the flight test has been performed. In the flight test, the developed system was shown to provide the position, the velocity and the attitude satisfactorily enough for stable flight control. The accuracy of the attitude information of the developed system was confirmed by comparing attitude of vertical gyro.