• 제목/요약/키워드: navigation erros

검색결과 2건 처리시간 0.019초

관성항법장치 오차방정식에 대한 두 가지 표현식 (Two expressions for the inertial navigation system error equations)

  • 김종주
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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    • pp.668-671
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    • 1996
  • Two expressions for the inertial navigation system error equations are derived using a perturbation method; one in navigation frame, and the other in geographic frame. The equivalence between two expressions is shown by explicit equations and computer simulation.

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다중 GPS 수신기에 의한 농업용 차량의 정밀 위치 계측(I) - 오차추정 시뮬레이션 및 고정위치계측 - (Precise Positioning of Farm Vehicle Using Plural GPS Receivers - Error Estimation Simulation and Positioning Fixed Point -)

  • 김상철;조성인;이승기;이운용;홍영기;김국환;조희제;강지원
    • Journal of Biosystems Engineering
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    • 제36권2호
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    • pp.116-121
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    • 2011
  • This study was conducted to develop a robust navigator which could be in positioning for precision farming through developing a plural GPS receiver with 4 sets of GPS antenna. In order to improve positioning accuracy by integrating GPS signals received simultaneously, the algorithm for processing plural GPS signal effectively was designed. Performance of the algorithm was tested using a simulation program and a fixed point on WGS 84 coordinates. Results of this study are aummarized as followings. 1. 4 sets of lower grade GPS receiver and signals were integrated by kalman filter algorithm and geometric algorithm to increase positioning accuracy of the data. 2. Prototype was composed of 4 sets of GPS receiver and INS components. All Star which manufactured by CMC, gyro compass made by KVH, ground speed sensor and integration S/W based on RTOS(Real Time Operating System)were used. 3. Integration algorithm was simulated by developed program which could generate random position error less then 10 m and tested with the prototype at a fixed position. 4. When navigation data was integrated by geometrical correction and kalman filter algorithm, estimated positioning erros were less then 0.6 m and 1.0 m respectively in simulation and fixed position tests.