자세 측정용 GPS 수신기를 이용한 SDINS의 초기정렬 알고리즘

Initial Alignment Algorithm for the SDINS Using an Attitude Determination GPS Receiver

  • Published : 2002.03.01


Since the stationary alignment process of the SDINS is not completely observable, some furls of the aided alignment have been applied. The purpose of this paper is to propose a new initial alignment algorithm, which utilizes the attitude output from the AGPS(Attitude Determination GPS) receiver and to demonstrate the feasibility of the proposed algorithm with several experimental results. A Kalman filter is designed for utilizing the attitude output as well as the zero velocity information. Also analyzed is the observability of the SDINS error model. To show the feasibility of the proposed scheme, we implement an alignment system where HG1700AE IMU (Inertial Measurement Unit) from Honeywell and an AGPS receiver designed at Chungnam National University are used. Test trials are done to evaluate the performance of the proposed alignment scheme. The proposed algorithm provides as good initial alignment performance as a high accurate navigation system, MAPS(Modular Azimuth Positioning System) INS.


  1. K. R. Britting, Inertial Navigation Systems Analysis, John Wiley & Sons Inc., London, 1971
  2. D. H. Titterton and J. L. Weston, Strapdown Inertial Navigation Technology, Peter Peregrinus Ltd., United Kingdom, 1997
  3. 박찬국, 김광진, 박흥원, 이장규, '스트랩다운 관성항법시스템의 초기 개략정렬 알고리즘,' '96 한국자동제어학술회의논문집, pp. 856-859, 1996. 10
  4. 김종혁, 이시호, 문승욱, 김세환, 황동환, 이상정, 나성웅, '스트랩다운 관성항법시스템의 초기정렬 알고리즘 구현,' 제어 ? 자동화 ? 시스템공학 논문지, 제6권, 제2호, PP. 138-145, 2002. 2
  5. 김영선, 오상헌, 황동환, '칼만 필터를 이용한 스트랩다운 관성항법장치의 초기정렬 알고리즘 구현,' '99 한국자동제어학술회의논문집, pp. C-298-C-301, 1999. 10
  6. Y. F. Jiang and Y. P. Lin, 'Error estimation ground alignment through observability analysis,' IEEE Trans. on Aerospace and Electronic Systems, vol. 23, no. 1, pp. 92-97, January, 1992
  7. D. Goshen-Meskin and I. Y. Bar-Itzhack, 'Observability analysis of piece-wise constant system-partII,' IEEE Trans. on Aerospace and Electronic Systems, vol. 28, no. 4, pp. 1068-1075, October, 1992
  8. J. G. Lee, C. G. Park, and H. W. Park, 'Multiposition alignment of strapdown inertial navigation system,' IEEE Trans. on Aerospace and Electronic Systems, vol. 29, no. 4, pp. 1323-1328, October, 1993
  9. J. Farrell and M. Barth, The Global Positioning System and Inertial Navigation, McGraw-Hill, New York, 1999
  10. 이상정, 'GPS 기술 동향,' 대한전기학회지, 제48권 제8호, pp. 40-47, 1999. 8
  11. 김진원, GPS 반송파 위상과 INS를 상호 보완적으로 이용한 자세 추정, 공학박사학위논문, 서울대학교, 1999
  12. 박찬식, GPS 반송파 위상신호를 이용한 자세결정, 공학박사학위논문, 서울대학교, 1997
  13. G. M. Siouris, Aerospace Avionics System: A Modern Synthesis, Academic Press, 1993
  14. D. Goshen-Meskin and I. Y. Bar-Itzhack, 'A unified approach to inertial navigation system error modeling,' Journal of Guidance, Control and Dynamics, vol. 15, no. 3, 1992
  15. R. M. Rogers, Applied Mathematics in Integrated Navigation Systems, American Institute of Aeronautics and Astronautics, 2000
  16. 송기원, 전창배, 이상정, '오일러각 정합방식의 전달정렬 칼만 필터 설계,' '98 한국 자동 제어 학술 회의, pp. 1063-1056, 1998
  17. J. L. Leva, M. U. de Haag, and K. V. Dyke, 'Performance of standalone GPS,' Understanding GPS: Principles and Applications, E. D. Kaplan Editor, Artech House, Inc., 1996
  18. S. B. Son, C. S. Park, and S. J. Lee, 'A development of low-cost high precision gps heading determination system,' The 4th International Symposium on Navigation & Application, 1999
  19. M. S. Grewal, L. R. Weill, and A. P. Andrews, Global Positioning Systems, Inertial Navigation, and Integration, John Wiley & Sons Inc., New York, 2001