• Title/Summary/Keyword: Integrated navigation

Search Result 698, Processing Time 0.035 seconds

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

  • Park, Sul-Gee;Koo, Moon-Suk;Hwang, Dong-Hwan
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.16 no.8
    • /
    • pp.810-815
    • /
    • 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.

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

  • Oh Seung-Jin;Kim Woo-Hyun;Lee Jang-Gyu;Lee Hyung-Keun;Park Chan-Gook
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.12 no.10
    • /
    • pp.982-988
    • /
    • 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.

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

  • Lee, Jungshin;Sung, Changky;Park, Byungsu;Lee, Hyungsub
    • Journal of the Korea Institute of Military Science and Technology
    • /
    • v.22 no.2
    • /
    • pp.197-206
    • /
    • 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.

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

  • Koo, Moonsuk;So, Hyoungmin;Oh, Sang Heon;Hwang, Dong-Hwan
    • Journal of the Korea Institute of Military Science and Technology
    • /
    • v.19 no.2
    • /
    • pp.272-279
    • /
    • 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.

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

  • Halim Lee;Sanghyun Kim;Jongmin Park;Suhui Jeong;Seunghyeon Park;Jaewon Yu;Heonho Choi;Jiwon Seo
    • Journal of Positioning, Navigation, and Timing
    • /
    • v.13 no.1
    • /
    • pp.45-52
    • /
    • 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.

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

  • Song, Se-Phil;Shin, Mi-Young;Son, Seok-Bo;Kim, Young-Baek;Lee, Sang-Jeong;Park, Chan-Sik
    • The Transactions of The Korean Institute of Electrical Engineers
    • /
    • v.60 no.3
    • /
    • pp.612-619
    • /
    • 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
    • /
    • 2003.10a
    • /
    • pp.984-989
    • /
    • 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

  • PDF

Loosely-Coupled Vision/INS Integrated Navigation System

  • Kim, Youngsun;Hwang, Dong-Hwan
    • Journal of Positioning, Navigation, and Timing
    • /
    • v.6 no.2
    • /
    • pp.59-70
    • /
    • 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.

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

  • Jeong, Tae-Gweon;Park, Soo-Han
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
    • /
    • v.1
    • /
    • pp.15-22
    • /
    • 2006
  • As a method to come up with the low competence of responsible officers, an integrated system providing watch officers with information on navigation obtained on board and on land as well is needed to secure the safety of navigation. Therefore as an approach to improve the function for safe navigation, this paper is to develop, efficiently and economically, an integrated system of ship's information.

  • PDF

Integrated Navigation and Sense & Avoid Systems for Micro Aerial Vehicles

  • Vorsmann, P.;Winkler, S.;Park, J.B.
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
    • /
    • v.1
    • /
    • pp.145-150
    • /
    • 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.

  • PDF