• The Journal of the Korea institute of electronic communication sciences
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• v.19 no.2
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• pp.437-444
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• 2024

The rotational inertial navigation system can provide more accurate navigation information by mounting an IMU (Inertial Measurement Unit) on the gimbal and rotating the gimbal regularly to cancel out the errors of the IMU. However, when an attitude change occurs due to waves, the attitude error is not removed to 0 at the end of one cycle of the rotation procedure and causes a large position error. In this paper, considering this problem, we propose a method of stabilizing the external gimbal by rotating it based on the roll information of the vehicle. Based on simulation, the impact of waves is analyzed and the performance of external gimbal stabilization is verified.

• Journal of the Korea Institute of Military Science and Technology
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• v.1 no.1
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• pp.201-210
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• 1998

Inertial Navigation System(INS) can provide the vehicle position and velocity information using inertial sensor outputs without the use of external aids. Unfortunately INS navigation error increases with time due to inertial sensor errors, and therefore it is desirable to combine INS with external aids such as GPS, TACAN, OMEGA, and etc.. In this paper we propose an integration algorithm of commercial GPS/GLONASS and INS where an adaptive filter for signal processing of GPS/GLONASS receiver and the 12th order Kalman filter for aided strapdown INS(SDINS) we employed. Simulation results show that the proposed adaptive filter can effectively remove a randomly occurring abrupt jump due to sudden corruption of the received satellite signal and that the Kalman filter performs satisfactorily.

• Proceedings of the KIEE Conference
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• 2004.11c
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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.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.11
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• pp.921-933
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• 2018

There is a method to enhance the pure navigation performance of INS(Inertial Navigation System) through the rotation of inertial measurement unit to compensate error sources of inertial sensors each other and that INS using this principle of operation is called rotational INS. In this paper, the exact error analysis of rotational INS based on ring laser gyro considering the coupling effect with gravity and earth rate is performed to evaluate the navigation performance by inertial sensor error sources. And error analysis and performance evaluation result confirmed by modelling and simulation is also proposed in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1450-1455
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• 2005

This paper describes a DR construction for land navigation and the sigma point based receding horizon Kalman FIR (SPRHKF) filter for DR/GPS hybrid navigation system. A simple DR construction is adopted to improve the performance both of the pure land DR navigation and the DR/GSP hybrid navigation system. In order to overcome the flaws of the EKF, the SPKF is merged with the receding horizon strategy. This filter has several advantages over the EKF, the SPKF, and the RHKF filter. The advantages include the robustness to the system model uncertainty, the initial estimation error, temporary unknown bias, and etc. The computational burden is reduced. Especially, the proposed filter works well even in the case of exiting the unmodeled random walk of the inertial sensors, which can be occurred in the MEMS inertial sensors by temperature variation. Therefore, the SPRHKF filter can provide the navigation information with good quality in the DR/GPS hybrid navigation system for land navigation seamlessly.

• Journal of Advanced Navigation Technology
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• v.11 no.2
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• pp.146-153
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• 2007

Autonomous unmanned vehicle is able to find the path and the way point by itself. For the more precise navigation performance, Extended kalman filter, which is integrated with inertial navigation system and global positioning system is proposed in this paper. Extended kalman filter's performance is evaluated by the simulation and applied to the unmanned vehicle. The test result shows the effectiveness of extended kalman filter for the navigation.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.8
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• pp.796-803
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• 2011

It is called self-alignment or initial alignment that INS(Inertial Navigation System) is aligned using the measurements from the inertial sensors as an accelerometer and a gyroscope and the inserted reference navigation information in the stop state. The main purpose of self-alignment is to obtain the initial attitude of INS. The accuracy of self-alignment is determined by the performance grade of the used inertial sensors, especially horizontal attitude accuracy by the horizontal accelerometer and vertical attitude accuracy by the E-axis gyroscope. Therefore the uncertain errors in the inertial sensors cause the performance of self-alignment to degrade. In this paper, we analyze theoretically and through a simulation how the errors of inertial sensors in the temperature stabilizing state, one of the uncertain errors, affect the accuracy of self-alignment.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.12
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• pp.2339-2345
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• 2011

This paper proposes a new multi-filtered inertial navigation system to estimate the attitude and position of moving objects. This system has two states, the one is attitude state and the other is position/velocity state. For compensating IMU sensor errors, each of the two states uses a different filter: the attitude state uses the EKF and the position state uses the UPF. The fast and precise characteristics of the EKF have been properly utilized for the attitude estimation, while superior dynamic characteristics of the UPF have been fully adopted for the position estimation. The combination of these two filters in an inertial navigation system improves the system performance to be faster and more accurate. Experimental results demonstrate the superiority of this approach comparing to the conventional ones.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.101-103
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• 2005

This paper designs a CDU(Control Disaply Unit) for commercial high precision INS(Inertial Navigation System). The CDU is designed using GUI(Graphic User Interface) programming running on Windows operating system. Since the designed CDU provides standard functions of the Windows operating systems and has a modular structure, it is easy to modify and extend. The CDU has been interfaced to the H-726 INS, from which it's usefulness can be seen.

• Journal of the Korea Institute of Military Science and Technology
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• v.21 no.6
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• pp.731-743
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• 2018

In this paper, a study result to decide the accuracy specifications of inertial sensors satisfying the performance requirements of SINS(ship's inertial navigation system) is proposed. To do this, the performance specifications of overseas SINS is surveyed and the detailed error analysis of SINS at stationary condition is performed. Also, a new performance index to indicate the performance of SINS is derived. Modelling and simulation results show that the accuracy specifications of inertial sensors to meet the performance requirements of SIGMA40XP, a typical overseas SINS, can be determined through the newly derived performance index in this paper.