• 제목/요약/키워드: GPS/INS integrated System

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GPS 음영 지역 극복을 위한 INS/초음파 속도계 결합 항법 시스템 설계 (An Integrated Navigation System Combining INS and Ultrasonic-Speedometer to Overcome GPS-denied Area)

  • 최부성;유원재;김라우;이유담;이형근
    • 한국항행학회논문지
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    • 제23권3호
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    • pp.228-236
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    • 2019
  • 최근 도심지, 터널, 지하도 등과 같이 위성항법시스템 (GPS; global positioning system) 신호 수신이 어려운 환경에서 안정적으로 정확한 위치 해를 획득하기 위한 다중센서 결합 기법들이 활발하게 연구되고 있다. GPS 음영 지역에서의 위치 정확도를 개선하기 위하여 본 논문에서는 초음파의 전파 특성을 활용하여 동체의 전방 속도를 추정할 수 있는 저가의 초음파 속도계(ultrasonic-speedometer)를 설계하였고, 이를 활용하여 관성항법시스템 (INS; inertial navigation system)과 효율적으로 결합하는 INS/초음파 속도계 결합 항법 시스템을 제안하였다. 제안된 시스템의 성능을 분석하기 위해 차량 탑재 실험을 수행하였다. 실험결과에 의하면 저가의 MEMS IMU (micro electro mechanical systems inertial measurement unit)를 활용하고 GPS 신호가 10초 이상 가용하지 않는 경우에도 제안된 INS/ 초음파 속도계 결합 항법 시스템은 위치 정보 정확도의 열화를 효과적으로 제한할 수 있음을 확인하였다.

3차원 자세 결정용 GPS 수신기를 이용한 CDGPS/INS 통합 시스템 설계 (A Development of CDGPS/INS integrated system with 3-dimensional attitude determination GPS Receiver)

  • 이기원;이재호;서흥석;성태경
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2001년도 하계학술대회 논문집 D
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    • pp.2075-2077
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    • 2001
  • For precise positioning, GPS carrier measurements are often used. In this case, accurate position having mm${\sim}$cm error can be obtained. For 3D positioning, in CDGPS, more than five carrier phase measurements are required. When GPS signals are blocked or carrier phase measurements are insufficient, it cannot provide positioning solution. By integrating CDGPS with INS, continuity of positioning solution can be guaranteed. However, when a vehicle moves in low speed or in stationary, the CDGPS/INS integrated system is difficult to compensate INS attitude errors because GPS velocity error become relatively lange. In this paper, we used the 3D attitude GPS receiver to compensate the INS attitude error. By field experiments, it is shown that the proposed integration system maintains the navigation performance even when a vehicle is in low speed or GPS signal is blocked for a period of time.

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Attitude Determination GPS/INS Integrated Navigation System with FDI Algorithm for a UAV

  • Oh Sang Heon;Hwang Dong-Hwan;Park Chansik;Lee Sang Jeong;Kim Se Hwan
    • Journal of Mechanical Science and Technology
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    • 제19권8호
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    • pp.1529-1543
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    • 2005
  • Recently an unmanned aerial vehicle (UAV) has been widely used for military and civil applications. The role of a navigation system in the UAV is to provide navigation data to the flight control computer (FCC) for guidance and control. Since performance of the FCC is highly reliant on the navigation data, a fault in the navigation system may lead to a disastrous failure of the whole UAV. Therefore, the navigation system should possess a fault detection and isolation (FDI) algorithm. This paper proposes an attitude determination GPS/INS integrated navigation system with an FDI algorithm for a UAV. Hardware for the proposed navigation system has been developed. The developed hardware comprises a commercial inertial measurement unit (IMU) and the integrated navigation package (INP) which includes an attitude determination GPS (ADGPS) receiver and a navigation computer unit (NCU). The navigation algorithm was implemented in a real-time operating system with a multi-tasking structure. To evaluate performance of the proposed navigation system, a flight test has been performed using a small aircraft. The test results show that the proposed navigation system can give accurate navigation results even in a high dynamic environment.

INS/GPS 결합 시스템의 안정도 및 성능 분석 (Analysis for stability and performance of INS/GPS integration system)

  • 양철관;심덕선
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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    • pp.445-447
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    • 1998
  • This paper shows simulation results for stability and performance of two INS/GPS integration systems. First, the code tracking error of GPS receiver is analyzed by spectrum analysis and simulated for the tight and loose INS/GPS integrations. Next, stability of the integrated systems are simulated using root locus method. As loop filter in the GPS receiver, passive filter and active filter are used and compared.

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Cycle Slip Detection and Ambiguity Resolution for High Accuracy of an Intergrated GPS/Pseudolite/INS System

  • PARK, Woon-Young;LEE, Hung-Kyu;LEE, Jae-One
    • Korean Journal of Geomatics
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    • 제3권2호
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    • pp.129-140
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    • 2004
  • This paper addresses solutions th the challenges of carrier phase integer ambiguity resolution and cycle slip detection/identification, for maintaining high accuracy of an integrated GPS/Pseudolite/INS system. Such a hybrid positioning and navigation system is an augmentation of standard GPS/INS systems in localized areas. To achieve the goal of high accuracy, the carrier phase measurements with correctly estimated integer ambiguities must be utilized to update the system integration filter's states. The contribution presents an effective approach to increase the reliability and speed of integer ambiguity resolution through using pseudolite and INS measurements, with special emphasis on reducing the ambiguity search space. In addition, an algorithm which can effectively detect and correct the cycle slips is described as well. The algorithm utilizes additional position information provided by the INS, and applies a statistical technique known as th cumulative-sun (CUSUM) test that is very sensitive to abrupt changes of mean values. Results of simulation studies and field tests indicate that the algorithms are performed pretty well, so that the accuracy and performance of the integrated system can be maintained, even if cycle slips exist in the raw GPS measurements.

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Attitude Determination GPS/INS Integration System Design Using Triple Difference Technique

  • Oh, Sang-Heon;Hwang, Dong-Hwan;Park, Chan-Sik;Lee, Sang-Jeong
    • Journal of Electrical Engineering and Technology
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    • 제7권4호
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    • pp.615-625
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    • 2012
  • GPS attitude outputs or carrier phase observables can be effectively utilized to compensate the attitude error of the strapdown inertial navigation system. However, when the integer ambiguity is not correctly resolved and/or a cycle slip occurs, an erroneous GPS output can be obtained. If the erroneous GPS output is applied to the attitude determination GPS/INS (ADGPS/INS) integrated navigation system, the performance of the system can be degraded. This paper proposes an ADGPS/INS integration system using the triple difference carrier phase observables. The proposed integration system contains a cycle slip detection algorithm, in which the inertial information is combined. Computer simulations and flight test were performed to verify effectiveness of the proposed navigation system. Results show that the proposed system gives an accurate and reliable navigation solution even when the integer ambiguity is not correctly resolved and the cycle slip occurs.

종합항법장치 및 GPS를 이용한 실선시운전 선박조종성능의 계측 (Measurement of ship's maneuverabilities using Integrated Navigation System and GPS)

  • 이덕수
    • 한국항해학회지
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    • 제20권1호
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    • pp.11-26
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    • 1996
  • On this paper, the traditional methods for the measurement of ship's maneuverabilities during the sea-trial of newly built ship are summarized and new methods for the same measurement using Integrated Navigation System and GPS are introduced. After various sea-trials of training ship "HANNARA" which are equipped with modern INS and GPS system, the results are compared and analysed. The purpose of this paper is to present more accurate methods of measurement of ship's maneuverabilities during sea-trial using INS and GPS which are gradually becoming the basic navigational equipments on many newly constructed vessels.d vessels.

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차량용 INS/GPS 결합시스템의 가관측성 분석 및 다중 차수 필터 설계 (Observability Analysis and Multi-Dimensional Filter Design of the INS/GPS Integrated System for Land Vehicles)

  • 조성윤
    • 제어로봇시스템학회논문지
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    • 제14권7호
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    • pp.702-710
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    • 2008
  • In this paper, the observability of the INS/GPS integrated system for a land vehicle is analyzed on measurements and different filters with respect to the measurements are designed. In the stationary case, it is shown that horizontal accelerometer biases and vertical attitude errors and gyro biases are unobservable. An 8-state filter is designed based on the observability analysis. When GPS signal is available, a 15-state filter is used with position and velocity measurements. To estimate the INS errors even in the case that GPS signal is blocked a filter is designed in consideration of the non-holonomic constraints of a land vehicle. In this case, the horizontal position and velocity errors and vertical attitude error are unobservable. However, a 12-state filter including the velocity states is designed to estimate the accelerometer biases. When GPS signal recovers, a 9-state filter is used excluding the sensor biases. This paper presents a multi-dimensional filter that switches the four filters according to the usable measurements and maneuver environments. A simulation is carried out to verify the performance of the proposed filter.

이동로봇의 위치 추정을 위한 약결합 방식의 INS/GPS 구현에 관한 연구 (A study on INS/GPS implementation of loosely coupled method for localization of mobile robot.)

  • 박명훈;홍승홍
    • 대한전기학회:학술대회논문집
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    • 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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    • pp.493-495
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    • 2004
  • In this paper, shows a research in accordance with the design the implementation of the localization system for mobile robot using INS(Inertial Navigation System) and GPS(Global Positioning System). First, a Strapdown Inertial Navigation System : SDINS is designed and implemented for low speed walking robot, by modifying Inertial Navigation System which is widely used for rocket, airplane, ship and so on. In addition, thesis proposes the localization of robot with the method of loosely coupled method by using Kalman Filter with INS/GPS integrated system to utilize assumed position and steed data from GPS.

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속도 측정치를 활용한 GPS/INS 통합 항법의 Lever arm 오차 보상 (Lever Arm Error Compensation of GPS/INS Integrated Navigation by Velocity Measurements)

  • 박제두;김민우;김희성;이제영;이형근
    • 한국항공우주학회지
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    • 제41권6호
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    • pp.481-487
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    • 2013
  • GPS/INS 항법시스템의 설치에 있어서 대다수의 경우 GPS 수신기 안테나는 차량의 외부에 설치하게 되고 IMU는 내부에 설치하게 된다. Lever Arm 오차는 이와 같이 센서의 장착 위치 차이로 인하여 발생하는 구조적인 오차에 해당한다. Lever Arm 오차는 항법성능에 직접적으로 영향을 주기 때문에 적절한 보상이 반드시 필요하다. 본 논문에서는 GPS와 INS의 속도 측정치를 활용하여 임의의 위치에 장착된 두 센서의 Lever Arm 오차를 효과적으로 추정하고 보상하는 방식을 제안하였다. 실험을 통해 제안한 알고리즘의 타당성을 검증하였으며, 항체의 회전운동 구간에서 Lever Arm 오차 보상이 특히 중요함을 보였다.