Performance Investigation of GPS/INS Ultra-tightly integration for Navigation of Unmanned Expedition Vehicles

무인탐사체 항법을 위한 GPS/INS 초강결합 성능분석

  • 정광윤 (중앙대학교 전자전기공학부) ;
  • 조영석 (중앙대학교 전자전기공학부) ;
  • 심덕선 (중앙대학교 전자전기공학부)
  • Published : 2006.07.01


GPS/INS integration is widely considered as main navigation systems of vehicles since GPS(Global Positioning System) and INS(Inertial Navigation System) have their own strength and weakness, respectively. Accuracy, continuity, integrity, and availability should be provided in navigation systems of vehicles. Ultra-tightly integration can improve these capacities, expecially availability of GPS. Unmanned Expedition Vehicles(UEV) must be robust against Jamming and external impact because UEV have to substitute for a man when they are in the place where they can not be controlled by a man. This paper analyzes the performance of Ultra-tightly integration and compares it with those of loosely integration and tightly integration for some trajectories


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