• Title/Summary/Keyword: GPS/INS integrated System

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Monitoring System Design for the GPS/INS Integrated Navigation System (GPS/INS 통합 항법 시스템용 모니터링 시스템 설계)

  • 한상재;오상헌;황동환;이상정
    • Journal of Institute of Control, Robotics and Systems
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    • v.9 no.3
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    • pp.242-250
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    • 2003
  • We propose the monitoring system scheme for the CPS/INS integrated navigation system. The design requirements of the monitoring system are suggested and the software scheme based on GUI is proposed. The proposed monitoring system consists of an I/O interface part, a navigation data display part, and a post-processing part. The I/O interface part is responsible for data communication between the monitoring system and a navigation computer unit. The navigation data display part provides various display methods to show the navigation data to user in real-time. The post-processing part collects the navigation data to analyze the performance of navigation system. The proposed monitoring system software was developed using the Visual C++ programming language and a van test was carried out to demonstrate the real-time operation of the monitoring system. The test result shows that the proposed monitoring system can be effectively applied to the CPS/INS integrated navigation system.

Design of a Low-Cost Attitude Determination GPS/INS Integrated Navigation System for a UAV (Unmanned Aerial Vehicle) (무인 비행체용 저가의 ADGPS/INS 통합 항법 시스템)

  • Oh Sang Heon;Lee Sang Jeong;Park Chansik;Hwang Dong-Hwan
    • Journal of Institute of Control, Robotics and Systems
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    • v.11 no.7
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    • pp.633-643
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    • 2005
  • An unmanned aerial vehicle (UAV) is an aircraft controlled by .emote commands from ground station and/o. pre-programmed onboard autopilot system. A navigation system in the UAV provides a navigation data for a flight control computer(FCC). The FCC requires accurate and reliable position, velocity and attitude information for guidance and control. This paper proposes an ADGPS/INS integrated navigation system for a UAV. The proposed navigation system comprises an attitude determination GPS (ADGPS) receive., a navigation computer unit, and a low-cost commercial MEMS inertial measurement unit(IMU). The navigation algorithm contains a fault detection and isolation (FDI) function fur integrity. In order to evaluate the performance of the proposed navigation system, two flight tests were preformed using a small aircraft. The first flight test was carried out to confirm fundamental operation of the proposed navigation system and to check the effectiveness of the FDI algorithm. In the second flight test, the navigation performance and the benefit of the GPS attitude information were checked in a high dynamic environment. The flight test results show that the proposed ADGPS/INS integrated navigation system gives a reliable performance even when anomalous GPS data is provided and better navigation performance than a conventional GPS/INS integration unit.

Development of Navigation Computer for Small Satellites Using Integrated GPS/INS (소형위성용 GPS/INS 통합 항법 컴퓨터 개발)

  • Choi, Young-Hoon;Lee, Byung-Hoon;Chnag, Young-Keun
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.36 no.4
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    • pp.393-398
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    • 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.

Improvement of INS-GPS Integrated Navigation System using Wavelet Thresholding (웨이블릿 임계화 기법을 이용한 INS-GPS 결합항법 시스템의 성능향상)

  • Kang, Chul-Woo;Park, Chan-Gook;Cho, Nam-Ik
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.37 no.8
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    • pp.767-773
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    • 2009
  • This research have introduced wavelet signal processing technic for improving navigation signals. INS signals can be distorted with conventional pre-filtering method such as low-pass filtering by unwanted smoothing on real signals. But in this paper, wavelet thresholding method is implemented to INS signal to denoise for INS-GPS integrated system. This method reduces signal noise but not distorts the rapid varing signal. And this paper applied thresholding to INS-GPS integrated navigation system and improved navigation performance.

Modified UKF Considering Real-Time Implementation of the Multi-Rate INS/GPS Integrated Navigation System (다중속도 INS/GPS 결합항법시스템의 실시간 구현을 고려한 수정된 UKF)

  • Cho, Seong Yun;Enkhtur, Munkhzul;Kim, Kyong-Ho
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.2
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    • pp.87-94
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    • 2013
  • UKF (Unscented Kalman Filter) has been used in the nonlinear systems without initial accurate state estimates instead of EKF (Extended Kalman Filter) of the last decade because the UKF has robustness to the large initial estimation error. In the multirate integrated system such as INS (Inertial Navigation System)/GPS (Global Positioning System) integrated navigation system, however, it is difficult to implement the UKF based navigation algorithm in the mid-grade micro-processor due to the large computational burden. To overcome this problem, this paper proposes a MUKF (Modified UKF) that has a reduced computation burden using the basic idea that the change of the provability distribution for the state variables between measurement updates is small in the multi-rate INS/GPS integrated navigation filter. The performance of the proposed MUKF is verified by numerical simulations.

Study on INS/GPS Sensor Fusion for Agricultural Vehicle Navigation System (농업기계 내비게이션을 위한 INS/GPS 통합 연구)

  • Noh, Kwang-Mo;Park, Jun-Gul;Chang, Young-Chang
    • Journal of Biosystems Engineering
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    • v.33 no.6
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    • pp.423-429
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    • 2008
  • This study was performed to investigate the effects of inertial navigation system (INS) / global positioning system (GPS) sensor fusion for agricultural vehicle navigation. An extended Kalman filter algorithm was adopted for INS/GPS sensor fusion in an integrated mode, and the vehicle dynamic model was used instead of the navigation state error model. The INS/GPS system was consisted of a low-cost gyroscope, an odometer and a GPS receiver, and its performance was tested through computer simulations. When measurement noises of GPS receiver were 10, 1.0, 0.5, and 0.2 m ($1{\sigma}$), RMS position and heading errors of INS/GPS system at 5 m/s straight path were remarkably reduced with 10%, 35%, 40%, and 60% of those obtained from the GPS receiver, respectively. The decrease of position and heading errors by using INS/GPS rather than stand-alone GPS can provide more stable steering of agricultural equipments. Therefore, the low-cost INS/GPS system using the extended Kalman filter algorithm may enable the self-autonomous navigation to meet required performance like stable steering or more less position errors even in slow-speed operation.

Simulator Design Using a General Purpose PC and Off-The-Shelf Interface Boards for GNSS/INS Integrated Navigation System (GNSS/INS 통합항법 시스템을 위한 범용 PC와 Off-The-Shelf 인터페이스 보드를 이용한 시뮬레이터 설계)

  • Jae Hoon Son;Sang Heon Oh;Dong-Hwan Hwang
    • Journal of Positioning, Navigation, and Timing
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    • v.13 no.1
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    • pp.93-102
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    • 2024
  • Global Navigation Satellite System (GNSS)/Inertial Navigation System (INS) integrated navigation systems provide highly accurate and reliable navigation solutions and are widely used as civil and military navigation systems. In order to facilitate the GNSS/INS integrated navigation system development task, a simulator can be used to provide inputs for the GNSS/INS integrated navigation system. In this paper, a simulator design using general-purpose Personal Computer (PC) and Off-The-Shelf (OTS) interface boards for a GNSS/INS integrated navigation system is proposed and implementation results are presented. Requirements of the GNSS/INS integrated navigation system simulator are presented and a design method that satisfies the requirements is described. In order to show the usefulness of the proposed design method, a simulator using a general-purpose PC and OTS interface boards for the GPS/INS integrated navigation system are implemented and verified. The implementation results show that the simulator designed by the proposed method generates the GPS L1 C/A signal and IMU data without any problems.

Measurement Delay Error Compensation for GPS/INS Integrated System (GPS/INS 통합시스템의 측정치 시간지연오차 보상)

  • Lyou Joon;Lim You-Chol
    • Journal of the Institute of Electronics Engineers of Korea SC
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    • v.41 no.1
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    • pp.1-8
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    • 2004
  • The INS(Inertial Navigation System) provides high rate position, velocity and attitude data with good short-term stability while the GPS(Global Position System) provides position and velocity data with long-term stability. By integrating the INS with GPS, a navigation system can be achieved to Provide highly accurate navigation Performance. For the best performance, time synchronization of GPS and INS data is very important in GPS/INS integrated system But, it is impossible to synchronize them exactly due to the communication and computation time-delay. In this paper, to reduce the error caused by the measurement time-delay in GPS/INS integrated systems, error compensation methods using separate bias Kalman filter are suggested for both the loosely-coupled and the tightly-coupled GPS/INS integration systems. Linearized error models for the position and velocity matching GPS/INS integrated systems are Int derived by linearizing with respect to its time-delay and augmenting the delay-state into the conventional state equations for each case. And then separate bias Kalman Inter is introduced to estimate the time-delay during only initial navigation stage. The simulation results show that the present method is effective enough resulting in considerably less position error.

Improving INS/GPS Integrated System Position Error using Dilution of Precision (Dilution of Precision 정보를 이용한 INS/GPS 결합시스템 위치오차 개선)

  • Kim, Hyun-seok;Baek, Seung-jun;Cho, Yun-cheol
    • Journal of Advanced Navigation Technology
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    • v.21 no.1
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    • pp.138-144
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    • 2017
  • A method for improving the integrated navigation performance in the INS/GPS navigation system by the considering that the condition that the geometric arrangement of the satellite is degraded due to limitation of the line of sight of the satellite such as geographic feature and GPS signal jamming is proposed. A variable covariance extended Kalman filter (VCEKF) that correlated to the measured covariance to the DOP of GPS is suggested. The navigation performance of integrated navigation system using EKF and VCEKF is analyzed by Monte-Carlo simulations. The result is verified that VCEKF has better estimation performance than EKF using fixed covariance on condition that DOP value is larger than the smaller value.

Integrated Navigation System with Low-cost GPS and INS (저가형 GPS와 INS를 이용한 복합항법 시스템 개발)

  • Kim, Min-Ho;Song, Hyun-Min;Kim, Jeong-Rae
    • Journal of Aerospace System Engineering
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    • v.4 no.3
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    • pp.17-23
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    • 2010
  • GPS sensors provide accurate position and velocity of moving vehicles. However, GPS is weak at intermittent signal loss and large position error. Combination with INS improves the GPS position accuracy during the GPS signal loss. In this paper, a fusion filter using GPS and INS is developed and its perfomance is analyzed with RC car and RC airplane experiments.

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