• Title, Summary, Keyword: SDINS

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Study on SDINS/GPS Kalman Filter using GPS carrier phase rate measurements (GPS 반송파 위상변화율을 이용한 SDINS/GPS 복합항법 필터 구성)

  • Park, Jun-Gu
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.34 no.11
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    • pp.42-46
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    • 2006
  • As an application of SDINS/GPS integration for its synergistic results, the SDINS alignments utilizing GPS carrier phase rate measurements. A measurement model of GPS carrier phase rate is derived in order to be used with SDINS alignment process. For in-flight alignment, the performance of the suggested SDINS/GPS integration method is analyzed using the covariance analysis and its results are confirmed by those of van test. Consequently, it is shown that all states of the SDINS integrated system by utilizing GPS carrier phase rate measurements can be estimated more efficiently than a general SDINS/GPS during in-flight alignment.

GPS/SDINS integration model using GPS carrier phase rate measurements (GPS 반송파 위상변화율을 이용한 GPS/SDINS 결합모델)

  • Park Joon-Goo
    • Journal of The Institute of Information and Telecommunication Facilities Engineering
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    • v.4 no.1
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    • pp.1-6
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    • 2005
  • As an application of the GPS/SDINS integration for its synergistic results, the alignments of the SDINS utilizing GPS carrier phase rate measurements is introduced. A measurement model of GPS carrier phase rate, which does not require integer ambiguity determination process, is newly derived in order to be adopted with the SDINS in-flight alignment process. For in-flight alignment, the performance of the GPS/SDINS integration method suggested in this paper is analyzed using the covariance analysis.

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SDINS/GPS/ZUPT Integration Land Navigation System for Azimuth Improvement (방위각 개선을 위한 SDINS/GPS/ZUPT 결합 지상 항법 시스템)

  • Lee, Tae-Gyoo;Cho, Yun-Cheol;Jang, Suk-Won;Park, Jai-Yong;Sung, Chang-Ky
    • Journal of the Korea Institute of Military Science and Technology
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    • v.9 no.1
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    • pp.5-12
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    • 2006
  • This study describes an SDINS/GPS/ZUPT integration algorithm for land navigation systems. The SDINS error can be decoupled in two parts. The first part is the the Schuler component which does not depend on object motion parameters, and the other is the Non-Schuler part which depends on the product of object acceleration and azimuth error. Azimuth error causes SDINS error in proportion to the traversed distance. The proposed system consists of a GPS/SDINS integration system and an SDINS/ZUPT integration system, which are both realized by an indirect feedforward Kalman filter. The main difference between the two is whether the estimate includes the Non-Schuler error or not, which is decided by the measurement type. Consequently, subtracting GPS/SDINS outputs from SDINS/ZUPT outputs provide the Non-Schuler error information which can be applied to improving azimuth accuracy. Simulation results using the raw data obtained from a van test attest that the proposed SDINS/GPS/ZUPT system is capable of providing azimuth improvement.

Estimation Technique of Fixed Sensor Errors for SDINS Calibration

  • Lee, Tae-Gyoo;Sung, Chang-Ky
    • International Journal of Control, Automation, and Systems
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    • v.2 no.4
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    • pp.536-541
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    • 2004
  • It is important to estimate and calibrate sensor errors in maintaining the performance level of SDINS. In this study, an estimation technique of fixed sensor errors for SDINS calibration is discussed. First, the fixed errors of gyros and accelerometers, excluding gyro biases are estimated by the navigation information of SDINS in multi-position. The SDINS with RLG includes flexure errors. In this study, the gyros flexures are out of consideration, but the proposed procedure selects certain positions and rotations in order to minimize the influence of flexures. Secondly, the influences of random walks, flexures and orientation errors are verified via numerical simulations. Thirdly, applying the previous estimated errors to SDINS, the estimation of gyro biases is conducted via the additional control signals of close-loop self-alignment. Lastly, the experiments illustrate that the extracted calibration parameters are available for the improvement of SDINS.

Study on Observabi1ity Entrancement of SDINS in-flight using GPS Carrier Phase Measurements (GPS 반송파위상 정보를 이용한 SDINS의 운항중 정렬에 대한 가관측성 향상기법 연구)

  • 박준구;박찬국;이장규
    • 제어로봇시스템학회:학술대회논문집
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    • pp.54-54
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    • 2000
  • For its synergistic relationship, an integrated SDINS/GPS system has been adopted in many navigation areas. As an application of SDINS/GPS integration, the in-flight alignment process of a SDINS utilizing GPS carrier phase measurements is introduced and analyzed via an observability analysis using nul1 space method. A measurement model of double-differenced GPS carrier phase measurements is newly derived in order to be used with a SDINS error model. Also, conditions for determining the complete observability of a SDINS/GPS system are suggested and proved. Consequently, it is shown that the system is not completely observable in case of one basel me. With one baseline aligned with y-axis of body frame, pitch error and x-axis accelerometer bias are unobservable states. Also shown is that al1 states are completely observable when sequential maneuver is performed. Above results are confirmed by a covariance analysis.

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Integration Algorithm of GPS/SDINS/ST for a Space Navigation (우주항법을 위한 GPS/SDINS/ST 결합 알고리듬)

  • Yi, Chang-Yong;Cho, Kyeum-Rae;Lee, Dae-Woo;Cho, Yun-Cheol
    • Journal of the Korean Society for Aviation and Aeronautics
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    • v.24 no.2
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    • pp.1-10
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    • 2016
  • A GPS/SDINS/ST(Star Tracker) integrated sensor algorithm is more robust than the GPS/SDINS and the ST/SDINS systems on exploration of other planets. Most of the advanced studies shown that GPS/SDINS/ST integrated sensor with centralized Kalman filter was more accurate than those 2 integrated systems. The system, however, consist of a single filter, it is vulnerable to defects on failed data. To improve the problem, we work out a study using federated Kalman filter(No-Reset mode) and centralized Kalman filter with adaptive measurement fusion which known as robustness on fault. The simulation results show that the debasing influences are reduced and the computation is enable at least 100Hz. Further researches that the initial calibration in accordance with observability and applying the exploration trajectory are needed.

Adaptive Filter Design for Radar Aided SDINS (레이다 보정형 스트랩다운 관성항법시스템을 위한 적응필터 구성)

  • 유명종;박찬주;김현백
    • Journal of Institute of Control, Robotics and Systems
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    • v.9 no.6
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    • pp.420-424
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    • 2003
  • A new adaptive filter is proposed for an aided strapdown inertial navigation system(SDINS). The proposed filter can be used to effectively estimate the time-varying variance of the measurement noise. Then, the in-flight alignment for the radar aided SDINS is designed using the additive quatermion error model. Simulation results show that the proposed adaptive filter effectively improves the performance of the radar aided SDINS.

The uniform observability and the error characteristics for stationary strapdown inertial navigation system (스트랩다운 관성항법시스템의 정지시 균일 관측 가능성 및 오차 특성 분석)

  • 정도형;박찬국;이장규
    • 제어로봇시스템학회:학술대회논문집
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    • pp.676-679
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    • 1996
  • In this paper, the uniform observability and the error characteristics for stationary SDINS error are analyzed. The use of the Lyapunov transformation is proposed for transforming te conventional SDINS error model and the sufficient conditions for the uniform observability of SDINS error model are analytically derived. A complete characterization for the SDINS error characteristics during two position alignment is presented which allows us to predict the performance of two position alignment in SDINS.

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SDINS Equivalent Error Models Using the Lyapunov Transformation (Lyapunov 변환을 이용한 SDINS 등가 오차모델)

  • Yu, Myeong-Jong;Lee, Jang-Gyu;Park, Chan-Guk
    • Journal of Institute of Control, Robotics and Systems
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    • v.8 no.2
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    • pp.167-177
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    • 2002
  • In Strapdown Inertial Navigation System(SDINS), error models based on previously proposed conversion equations between the attitude errors, are only valid in case the attitude errors are small. The SDINS error models have been independently studied according to the definition of the reference frame and of the attitude error. The conversion equations between the attitude errors applicable to SDINS with large attitude errors are newly derived. Lyapunov transformation matrices are also derived from the obtained results. Furthermore the general method, which is independent of the attitude error and the reference frame to derive SDINS error model, is proposed using the Lyapunov transformation.

The Implementation of Tightly coupled SDINS/GPS System based on the Ring Laser Gyro (링레이저 자이로 기반 관성항법장치와 위성항법장치의 강결합 방식 시스템 구현)

  • Yu, Haesung;Park, Sang Eun;Jeong, Jinseob;Park, Heung-Won
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.41 no.2
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    • pp.134-141
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    • 2013
  • This paper explores a real-time system implementation to couple tightly StrapDown Inertial Navigation System(SDINS) and Global Positioning System(GPS) mounted on the aircraft. When implementing the SDINS/GPS coupled system in real-time processor, we have to deliberate SDINS's unique characteristics based on the ring laser gyro, and besides, lever-arm, measurements, and error compensation method. The novel modeling method is applied to system the misalignment error term of gyro to estimate the cumulative heading attitude errors while the aircraft banking to turn repeatedly. Captive Flight Test results show that the proposed modeling strategy has good performance.