• 제목/요약/키워드: heading attitude error

검색결과 33건 처리시간 0.03초

초기 기수각 정보가 필요 없는 SDINS의 운항중 정렬 (In-Flight Alignment of SDINS without Initial Heading Information)

  • 홍현수;이장규;박찬국
    • 제어로봇시스템학회논문지
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    • 제8권6호
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    • pp.524-532
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    • 2002
  • This paper presents a new in-flight alignment method for an SDINS under large initial heading error. To handle large heading error, a new attitude error model is introduced. The attitude errors are divided into heading error and leveling errors using a newly defined horizontal frame. Some navigation error dynamic models are derived from the attitude error model for indirect feedback filtering of the in-flight alignment system. A Kalman filter with Position measurement is designed to estimate navigation errors as the indirect feedback filter Simulation results show that the proposed in-flight alignment method reduces the heading error very quickly from more than 40deg to about 5deg so as to apply a refined navigation filter. The total alignment process including leveling mode and navigation mode in addition to the proposed one allows large initial values not only in heading error but also in leveling errors.

AHRS을 이용한 자세결정과 Heading 산출을 위한 연구 (The Study for attitude determination and heading production using AHRS)

  • 백기석;박운용;차성렬;홍순헌
    • 한국측량학회:학술대회논문집
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    • 한국측량학회 2004년도 춘계학술발표회논문집
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    • pp.59-64
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    • 2004
  • In this paper, the error compensation method of the low-cost IMU is proposed. In general, the position and attitude error calculated by accelerometers and gyros grows with time. Therefore the additional information is required to compensate the drift. The attitude angles can be bound accelerometer mixing algorithm and the heading angle can be aided by single antenna GPS velocity. The Kalman filter is used for error compensation. The result is verified by comparing with the attitude calculated by Attitude Heading Reference System with Micro Electro Mechanical System for a basis

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Vibration-Robust Attitude and Heading Reference System Using Windowed Measurement Error Covariance

  • Kim, Jong-Myeong;Mok, Sung-Hoon;Leeghim, Henzeh;Lee, Chang-Yull
    • International Journal of Aeronautical and Space Sciences
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    • 제18권3호
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    • pp.555-564
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    • 2017
  • In this paper, a new technique for attitude and heading reference system (AHRS) using low-cost MEMS sensors of the gyroscope, accelerometer, and magnetometer is addressed particularly in vibration environments. The motion of MEMS sensors interact with the scale factor and cross-coupling errors to produce random errors by the harsh environment. A new adaptive attitude estimation algorithm based on the Kalman filter is developed to overcome these undesirable side effects by analyzing windowed measurement error covariance. The key idea is that performance degradation of accelerometers, for example, due to linear vibrations can be reduced by the proposed measurement error covariance analysis. The computed error covariance is utilized to the measurement covariance of Kalman filters adaptively. Finally, the proposed approach is verified by using numerical simulations and experiments in an acceleration phase and/or vibrating environments.

자유자이로 위치 및 방위시스템의 오차에 관한 연구 (A Study on the Errors in the Free-Gyro Positioning and Directional System)

  • 정태권
    • 한국항해항만학회지
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    • 제37권4호
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    • pp.329-335
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    • 2013
  • This paper is to develop the position error equations including the attitude errors, the errors of nadir and ship's heading, and the errors of ship's position in the free-gyro positioning and directional system. In doing so, the determination of ship's position by two free gyro vectors was discussed and the algorithmic design of the free-gyro positioning and directional system was introduced briefly. Next, the errors of transformation matrices of the gyro and body frames, i.e. attitude errors, were examined and the attitude equations were also derived. The perturbations of the errors of the nadir angle including ship's heading were investigated in each stage from the sensor of rate of motion of the spin axis to the nadir angle obtained. Finally, the perturbation error equations of ship's position used the nadir angles were derived in the form of a linear error model and the concept of FDOP was also suggested by using covariance of position error.

GPS/IMU 결합에 의한 자세 및 동적 위치 결정 분석 (Attitude and Dynamics Position Determination Analysis with the combined GPS/IMU)

  • 백기석;박운용;이종출;차성렬
    • 한국측량학회:학술대회논문집
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    • 한국측량학회 2004년도 추계학술발표회 논문집
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    • pp.117-121
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    • 2004
  • In this paper, the error compensation method of the low-cost IMU is proposed. In general, the position and attitude error calculated by accelerometers and gyros grows with time. Therefore the additional information is required to compensate the drift. The attitude angles can be bound accelerometer mixing algorithm and the heading angle can be aided by single antenna GPS velocity. The Kalman filter is used for error compensation. The result is verified by comparing with the attitude calculated and dynamics position determination by Attitude Heading Reference System with Micro Electro Mechanical System for a basis

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In - Motion Alignment Method for a Low - cost IMU based GPS/INS System

  • Kim, Jeong-Won;Oh, Snag-Heon;Hwang, Dong-Hwan
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2003년도 ICCAS
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    • pp.990-994
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    • 2003
  • When the low cost IMU is used, the result of the stationary self alignment is not suitable for navigation. In this paper, an in-motion alignment method is proposed to obtain an accurate initial attitude of a low cost IMU based GPS/INS integration system. To design Kalman filter for alignment, large heading error model is introduced. And then Kalman filter is designed to estimate initial attitude error as the indirect feedback filter. In order to assess performance of the alignment method, computer simulations are carried out. The simulation results show that initial attitude error rapidly reduces.

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Performance Improvement of an INS by using a Magnetometer with Pedestrian Dynamic Constraints

  • Woyano, Feyissa;Park, Aangjoon;Lee, Soyeon
    • IEIE Transactions on Smart Processing and Computing
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    • 제6권1호
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    • pp.1-9
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    • 2017
  • This paper proposes to improve the performance of a strap down inertial navigation system using a foot-mounted low-cost inertial measurement unit/magnetometer by configuring an attitude and heading reference system. To track position accurately and for attitude estimations, considering different dynamic constraints, magnetic measurement and a zero velocity update technique is used. A conventional strap down method based on integrating angular rate to determine attitude will inevitably induce long-term drift, while magnetometers are subject to short-term orientation errors. To eliminate this accumulative error, and thus, use the navigation system for a long-duration mission, a hybrid configuration by integrating a miniature micro electromechanical system (MEMS)-based attitude and heading detector with the conventional navigation system is proposed in this paper. The attitude and heading detector is composed of three-axis MEMS accelerometers and three-axis MEMS magnetometers. With an absolute algorithm based on gravity and Earth's magnetic field, rather than an integral algorithm, the attitude detector can obtain an absolute attitude and heading estimation without drift errors, so it can be used to adjust the attitude and orientation of the strap down system. Finally, we verify (by both formula analysis and from test results) that the accumulative errors are effectively eliminated via this hybrid scheme.

퍼지추론을 이용한 무인잠수정의 하이브리드 항법 시스템 (A hybrid navigation system of underwater vehicles using fuzzy inferrence algorithm)

  • 이판묵;이종무;정성욱
    • 한국해양공학회지
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    • 제11권3호
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    • pp.170-179
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    • 1997
  • This paper presents a hybrid navigation system for AUV to locate its position precisely in rough sea. The tracking system is composed of various sensors such as an inclinometer, a tri-axis magnetometer, a flow meter, and a super short baseline(SSBL) acoustic position tracking system. Due to the inaccuracy of the attitude sensors, the heading sensor and the flowmeter, the predicted position slowly drifts and the estimation error of position becomes larger. On the other hand, the measured position is liable to change abruptly due to the corrupted data of the SSBL system in the case of low signal to noise ratio or large ship motions. By introducing a sensor fusion technique with the position data of the SSBL system and those of the attitude heading flowmeter reference system (AHFRS), the hybrid navigation system updates the three-dimensional position robustly. A Kalman filter algorithm is derived on the basis of the error models for the flowmeter dynamics with the use of the external measurement from the SSBL. A failure detection algorithm decides the confidence degree of external measurement signals by using a fuzzy inference. Simulation is included to demonstrate the validity of the hybrid navigation system.

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단일 안테나 GPS와 가속도계를 이용한 저급 IMU의 자세 보정 (Attitude Compensation of Low-cost IMU Using Single Antenna GPS and Accelerometers)

  • 조성윤;문성재;진용;박찬국;지규인;이영재
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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    • pp.91-91
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    • 2000
  • In this paper, the error compensation method of the attitude reference system with low-cost IMU is proposed. In general, the attitude error calculated by gyro grows with time. Therefore the additional information is required to compensate the drift. The attitude angles can be bound by accelerometer mixing algorithm and the heading angle can be aided by GPS velocity information. The Kalman filter is used for error compensation. The result is verified by comparing with the attitude calculated by medium-grade IMU, LP-81.

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뱅크턴하는 항체에 대한 GPS를 이용한 SDINS의 자세 오차 추정 향상 (Performance improvement of SDINS attitude error estimation using GPS for bank-to-turn flight vehicle)

  • 유해성;유기정;김현석;이윤선;박흥원
    • 한국항공우주학회지
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    • 제39권2호
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    • pp.128-136
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    • 2011
  • 뱅크턴을 수행하는 항공기에 운용되는 관성항법장치의 특정 자이로 비정렬 오차가 수직축 자세오차를 연속적으로 증가시키는 현상에 대해서 분석을 수행하고, 이 자이로 비정렬 오차를 제거하기 위해 GPS을 결합한 INS/GPS 시스템에 대해서 새로운 비정렬 모델링 방법을 제시하고, 그 성능 향상을 시뮬레이션을 통해 제시한다.