• 제목/요약/키워드: Integrated navigation

검색결과 698건 처리시간 0.033초

자이로스코프를 이용한 영상/DR 통합 항법 시스템의 자세보정 (Attitude Compensation of Vision/DR Integrated Navigation System Using Gyroscope)

  • 박슬기;구문석;황동환
    • 제어로봇시스템학회논문지
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    • 제16권8호
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    • pp.810-815
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    • 2010
  • This paper proposes a vision/DR integrated navigation system using distance between wheels of the vehicle and a gyroscope. In order to show the validity of the proposed vision/DR integrated navigation system, experiments were performed for a trajectory of a mobile robot. Experimental results show that the proposed vision/DR integrated navigation system gives better navigation performance than a vision/DR integrated navigation system using only distance between wheels of the vehicle.

INS/영상센서 결합 항법시스템 설계 (Design of INS/Image Sensor Integrated Navigation System)

  • 오승진;김우현;이장규;이형근;박찬국
    • 제어로봇시스템학회논문지
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    • 제12권10호
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    • pp.982-988
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    • 2006
  • The errors of INS (Inertial Navigation System) are known to grow in time. To compensate the accumulated errors, measurements of external or onboard sensors are extensively utilized to form an integrated navigation system. Recently, INS/GPS integrated navigation systems have become popular since exact position and velocity information can be utilized by low cost GPS receivers. Unfortunately, this configuration cannot be trusted at all times especially when there are intentional or unexpected jammings and interruptions. To aid INS irrespectively of these cases, an INS/Image sensor integrated navigation system configuration is designed only based on the information of image sensor gimble angles. The performance of the INS/Image sensor integrated navigation system is evaluated by Monte Carlo simulation.

기압고도계 오차 보상을 고려한 INS/GNSS/TRN 통합항법 설계 (Design of INS/GNSS/TRN Integrated Navigation Considering Compensation of Barometer Error)

  • 이정신;성창기;박병수;이형섭
    • 한국군사과학기술학회지
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    • 제22권2호
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    • pp.197-206
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    • 2019
  • Safe aircraft requires highly reliable navigation information. The traditionally used inertial navigation system (INS) often displays faulty location information due to its innate errors. To overcome this, the INS/GNSS or INS/TRN integrated navigation can be used. However, GNSS is vulnerable to jamming and spoofing, while TRN can be degraded in the flat and repetitive terrains. In this paper, to improve the performance and ensure the high reliability of the navigation system, the INS/GNSS/TRN integrated navigation based on federated filter is designed. Master filter of the integrated navigation uses the estimates and covariances of two local filters - INS/GNSS and INS/TRN integrated filters. The local filters are designed with the EKF that is feedforward type and composed of the 17st state variables. And the INS/GNSS integrated navigation includes the barometer error compensation method. Finally, the proposed INS/GNSS/TRN integrated navigation is verified by vehicle and captive flight tests.

GPS/DME 통합항법시스템에서 전파고도계의 효과적인 사용 (Effective Use of Radio Altimeter in GPS/DME Integrated Navigation Systems)

  • 구문석;소형민;오상헌;황동환
    • 한국군사과학기술학회지
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    • 제19권2호
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    • pp.272-279
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    • 2016
  • Many researches on use of local ground navigation systems can be found to overcome vulnerability of GNSS. Effective use of an altimeter is proposed in GNSS/DME integrated navigation systems. A weighted DOP based on statistics of measurement error is derived for a given vehicle motion trajectory. From the derived DOP, the vertical error is estimated. By comparing the estimated vertical error with error specification of the altimeter, use of the altimeter is determined in the GPS/DME integrated navigation systems. In order to show effectiveness of the proposed method, 50 times Monte-Carlo simulations were performed for a GPS/DME integrated navigation system. The results show that the proposed method gives more accurate navigation outputs when the number of GPS satellites in view varies.

GPS CNAV/CNAV-2 항법메시지에 새롭게 추가된 파라미터와 그 역할 분석 (A Survey on New Parameters of GPS CNAV/CNAV-2 and Their Roles)

  • 이하림;김상현;박종민;정수희;박승현;유재원;최헌호;서지원
    • Journal of Positioning, Navigation, and Timing
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    • 제13권1호
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    • pp.45-52
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    • 2024
  • As part of the Global Positioning System (GPS) modernization program in the United States, Civil Navigation (CNAV) and CNAV-2 messages were developed to introduce flexibility and modern features to the Legacy Navigation (LNAV) message. This paper explores the additional parameters introduced in CNAV/CNAV-2 compared to LNAV, focusing on their roles from the user's perspective. This paper compares the structural and parameter differences among LNAV, CNAV, and CNAV-2. Additionally, we analyze the types and roles of parameters newly incorporated into CNAV/CNAV-2 that were absent in LNAV.

계산량과 정확도를 동시에 만족하는 eLoran/GPS 통합 항법 알고리즘 (The Integrated eLoran/GPS Navigation Algorithm for Reduced Calculational Complexity and High Accuracy)

  • 송세필;신미영;손석보;김영백;이상정;박찬식
    • 전기학회논문지
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    • 제60권3호
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    • pp.612-619
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    • 2011
  • Satellite navigation system such as GPS is becoming more important infrastructure for positioning, navigation and timing. But satellite navigation system is vulnerable to interferences because of the low received power, complementary navigation system such as eLoran is needed. In order to develop eLoran/GPS navigation system, integrated eLoran/GPS navigation algorithm is necessary. In this paper, new integrated eLoran/GPS navigation algorithm is proposed. It combines the position domain integration and the range domain integration to get accurate position with less computational burden. Also an eLoran/GPS evaluation platform is designed and performance evaluation of the proposed algorithm using the evaluation platform is given. The proposed algorithm gives an accuracy of the range domain integration with a computational load of the position domain integration.

GPS/INS Integration using Fuzzy-based Kalman Filtering

  • Lim, Jung-Hyun;Ju, Gwang-Hyeok;Yoo, Chang-Sun;Hong, Sung-Kyung;Kwon, Tae-Yong;Ahn, Iee-Ki
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2003년도 ICCAS
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    • pp.984-989
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    • 2003
  • The integrated global position system (GPS) and inertial navigation system (INS) has been considered as a cost-effective way of providing an accurate and reliable navigation system for civil and military system. Even the integration of a navigation sensor as a supporting device requires the development of non-traditional approaches and algorithms. The objective of this paper is to assess the feasibility of integrated with GPS and INS information, to provide the navigation capability for long term accuracy of the integrated system. Advanced algorithms are used to integrate the GPS and INS sensor data. That is fuzzy inference system based Weighted Extended Kalman Filter(FWEKF) algorithm INS signal corrections to provided an accurate navigation system of the integrated GPS and INS. Repeatedly, these include INS error, calculated platform corrections using GPS outputs, velocity corrections, position correction and error model estimation for prediction. Therefore, the paper introduces the newly developed technology which is aimed at achieving high accuracy results with integrated system. Finally, in this paper are given the results of simulation tests of the integrated system and the results show very good performance

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Loosely-Coupled Vision/INS Integrated Navigation System

  • Kim, Youngsun;Hwang, Dong-Hwan
    • Journal of Positioning, Navigation, and Timing
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    • 제6권2호
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    • pp.59-70
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    • 2017
  • Since GPS signals are vulnerable to interference and obstruction, many alternate aiding systems have been proposed to integrate with an inertial navigation system. Among these alternate systems, the vision-aided method has become more attractive due to its benefits in weight, cost and power consumption. This paper proposes a loosely-coupled vision/INS integrated navigation method which can work in GPS-denied environments. The proposed method improves the navigation accuracy by correcting INS navigation and sensor errors using position and attitude outputs of a landmark based vision navigation system. Furthermore, it has advantage to provide redundant navigation output regardless of INS output. Computer simulations and the van tests have been carried out in order to show validity of the proposed method. The results show that the proposed method works well and gives reliable navigation outputs with better performance.

선박종합정보시스템의 개발에 관한 연구 (A Study on Development of Integrated System of Ship's Information)

  • 정태권;박수한
    • 한국항해항만학회:학술대회논문집
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    • 한국항해항만학회 2006년도 추계학술대회 논문집(제1권)
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    • pp.15-22
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    • 2006
  • 현재 선박의 운항 기능을 보다 향상시키는 방법의 하나로서 선박의 운항 정보 및 주변 상황을 한 눈에 정확히 파악할 수 있도록 데이터를 종합적이고 체계적으로 선내 통신망을 기반으로 통합하여 선내 뿐 만아니라 위성데이터통신을 이용하여 원격으로 육상에서 실시간으로 다중의 사용자가 동시에 이를 감시, 기록, 분석을 통하여 안전한 선박운항을 지원할 수 있는 경제적이고 효율적인 '선박종합정보시스템'(Integrated System of Ship's Information)의 개발을 목표로 하고 있다.

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Integrated Navigation and Sense & Avoid Systems for Micro Aerial Vehicles

  • Vorsmann, P.;Winkler, S.;Park, J.B.
    • 한국항해항만학회:학술대회논문집
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    • 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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    • pp.145-150
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    • 2006
  • The paper deals with integrated navigation and sense & avoid systems for small unmanned aerial vehicles (UAV). First an introduction to the current UAV activities of the institute is given. It is followed by an overview about the integrated navigation system developed for small UAVs. The system is based on a tightly-coupled GPS/INS architecture. But instead of using delta-ranges, time-differenced carrier phases are used to aid the INS. Finally, results from navigation filter validation in flight tests are presented. After that an overview about sense and avoid strategies for application in small unmanned aircraft is given. From this a guideline for developing such a system for the institute's UAVs is presented.

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