• Title, Summary, Keyword: attitude determination GPS receiver

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Attitude Determination System using Low Cost GPS Engine Boards (저가형 GPS 엔진 보오드를 이용한 자세측정 시스템)

  • 홍진석;박찬식;지규인;이장규
    • Journal of Institute of Control, Robotics and Systems
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    • v.5 no.1
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    • pp.69-78
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    • 1999
  • The attitude determination system is indispensable for navigation, guidance and control tasks. In order to construct this system some special products that use dual frequencies or have on receiver engine with multiple antennas are used. But they are so expensive. Thus there are still strong requirements for the conventional low cost single frequency off-the-shelf receiver. This paper will propose a new technique to resolve integer ambiguity with single frequency GPS receiver and will show the problems of the attitude applications in which low cost receiver are being used. Also, based on this new technique precise attitude determination is presented.

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Initial Alignment Algorithm for the SDINS Using an Attitude Determination GPS Receiver (자세 측정용 GPS 수신기를 이용한 SDINS의 초기정렬 알고리즘)

  • Kim, Young-Sun;Oh, Sang-Heon;Hwang, Dong-Hwan;Lee, Sang-Jeong;Jeon, Chang-Bae;Song, Ki-Won;Park, Chan-Ju
    • Journal of Institute of Control, Robotics and Systems
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    • v.8 no.3
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    • pp.249-255
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    • 2002
  • 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.

An attitude determination GPS Receiver Integrated with Dead Reckoning Sensors (자세 결정용 GPS 수신기와 DR을 이용한 통합 시스템)

  • Lee, Jae-Ho;Seo, Hung-Seok;Sung, Tae-Kyung;Lee, Sang-Jeong
    • The Transactions of the Korean Institute of Electrical Engineers D
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    • v.50 no.2
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    • pp.72-79
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    • 2001
  • In the GPS/DR integrated system, the GPS position(or velocity) is used to compensate the DR output and to calibrate errors of the DR sensor. This synergistic relationship ensures that the calibrated DR accuracy can be maintained even when the GPS signal is blocked. Because of the observability problem, however, the DR sensors are not sufficiently calibrated when the vehicle speed is low. This problem can be solved if we use a multi-antenna GPS receiver for attitude determination instead of conventional one. This paper designs a two-antenna GP receiver integrated with DR sensors. The proposed integration system has three remarkable features. First, the DR sensor can be calibrated regardless of the vehicle speed with the aid of two-antenna GPS receiver. Secondly, the search space of integer ambiguities in GPS carrier-phase measurements is reduced to a part of the surface of the sphere using DR heading. Thirdly, the detection resolution of cycle-slips in GPS carrier-phase measurements is improved with the aid of DR heading. From the experimental result, it is shown that the search space is drastically reduced to about 3/20 of the non-aided case and the cycle-slips of 1 or half cycle can be detected.

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Design of a Two-dimensional Attitude Determining GPS Receiver (이차원 자세 측정용 GPS 수신기 설계)

  • 손석보;박찬식;이상정
    • Journal of the Korea Institute of Military Science and Technology
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    • v.3 no.2
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    • pp.131-139
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    • 2000
  • A design of CPS attitude determination system is described in this paper. The designed system is a low cost high precision 24 channel single frequency GPS(Global Positioning System) receiver which provides a precise absolute heading and pitch (or roll) as well as a position. It uses commercial chip-set and consists of two RF parts, two signal-tracking parts, a processor, memory parts and I/Os. In order to determine precise attitude, accurate carrier phase measurements and an efficient integer ambiguity resolution method are required. To meet these requirements, a PLL (Phase Locked Loops) is designed, and an algorithm called ARCE (Ambiguity Resolution with Constraint Equation) is adopted. The hardware and software structure of the system will be described, and the performance evaluated under various conditions will be presented. The test results will promise that more reliable navigation system be possible because the system provides all navigational information such as position, velocity, time and attitude.

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Precise attitude determination strategy for spacecraft based on information fusion of attitude sensors: Gyros/GPS/Star-sensor

  • Mao, Xinyuan;Du, Xiaojing;Fang, Hui
    • International Journal of Aeronautical and Space Sciences
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    • v.14 no.1
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    • pp.91-98
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    • 2013
  • The rigorous requirements of modern spacecraft missions necessitate a precise attitude determination strategy. This paper mainly researches that, based on three space-borne attitude sensors: 3-axis rate gyros, 3-antenna GPS receiver and star-sensor. To obtain global attitude estimation after an information fusion process, a feedback-involved Federated Kalman Filter (FKF), consisting of two subsystem Kalman filters (Gyros/GPS and Gyros/Star-sensor), is established. In these filters, the state equation is implemented according to the spacecraft's kinematic attitude model, while the residual error models of GPS and star-sensor observed attitude are utilized, to establish two observation equations, respectively. Taking the sensors' different update rates into account, these two subsystem filters are conducted under a variable step size state prediction method. To improve the fault tolerant capacity of the attitude determination system, this paper designs malfunction warning factors, based on the principle of ${\chi}^2$ residual verification. Mathematical simulation indicates that the information fusion strategy overwhelms the disadvantages of each sensor, acquiring global attitude estimation with precision at a 2-arcsecs level. Although a subsystem encounters malfunction, FKF still reaches precise and stable accuracy. In this process, malfunction warning factors advice malfunctions correctly and effectively.

Error Analysis of 3-Dimensional GPS Attitude Determination System

  • Park Chan-Sik;Cho Deuk-Jae;Cha Eun-Jong;Hwang Dong-Hwan;Lee Sang-Jeong
    • International Journal of Control, Automation, and Systems
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    • v.4 no.4
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    • pp.480-485
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    • 2006
  • In this paper, the error investigation of a 3-dimensional GPS attitude determination system using the error covariance analysis is given. New efficient formulas for computing the Euler Angle Dilution of Precision (EADOP) are also derived. The formulas are easy to compute and represent the attitude error as a function of the nominal attitude of a vehicle, the baseline configuration and the receiver noise. Using the formula, the accuracy of the Euler angle can be analytically predicted without the use of computer simulations. Applications to some configurations reveal the effectiveness of the proposed method.

An Attitude Determination GPS and INS Integration Scheme: Design and Flight Experiment (자세측정용 GPS/INS 통합시스템 구성 및 비행 시험)

  • Kim, Jeong Won;Hwang, Dong-Hwan;Lee, Sang Jeong;Park, Chansik;Oh, Sang Heon;Kim, Se Hwan;Ahn, Lee-Ki;Lee, Jang-Ho
    • The Journal of Advanced Navigation Technology
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    • v.8 no.2
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    • pp.112-119
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    • 2004
  • This paper proposes an attitude determination GPS/INS integrated system scheme for a UAV and presents experimental flight test results. The proposed system is designed as a part of an autopilot system and comprises a GPS attitude determination receiver, an off-the-shelf inertial measurement unit (IMU), and a navigation computer unit (NCU). UAV requires accurate attitude information for stable automatic flight control. The proposed system can provide accurate attitude information for the flight control computer (FCC) so that stable automatic flight control can be achieved. In order to verify the performance of the proposed scheme, an integrated navigation system has been developed. In order to evaluate the developed navigation system, the flight test has been performed. In the flight test, the developed system was shown to provide the position, the velocity and the attitude satisfactorily enough for stable flight control. The accuracy of the attitude information of the developed system was confirmed by comparing attitude of vertical gyro.

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Design of a Low-Cost Attitude Determination GPS/INS Integrated Navigation System for a UAV (Unmanned Aerial Vehicle) (무인 비행체용 저가의 ADGPS/INS 통합 항법 시스템)

  • Oh Sang Heon;Lee Sang Jeong;Park Chansik;Hwang Dong-Hwan
    • Journal of Institute of Control, Robotics and Systems
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    • v.11 no.7
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    • pp.633-643
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    • 2005
  • An unmanned aerial vehicle (UAV) is an aircraft controlled by .emote commands from ground station and/o. pre-programmed onboard autopilot system. A navigation system in the UAV provides a navigation data for a flight control computer(FCC). The FCC requires accurate and reliable position, velocity and attitude information for guidance and control. This paper proposes an ADGPS/INS integrated navigation system for a UAV. The proposed navigation system comprises an attitude determination GPS (ADGPS) receive., a navigation computer unit, and a low-cost commercial MEMS inertial measurement unit(IMU). The navigation algorithm contains a fault detection and isolation (FDI) function fur integrity. In order to evaluate the performance of the proposed navigation system, two flight tests were preformed using a small aircraft. The first flight test was carried out to confirm fundamental operation of the proposed navigation system and to check the effectiveness of the FDI algorithm. In the second flight test, the navigation performance and the benefit of the GPS attitude information were checked in a high dynamic environment. The flight test results show that the proposed ADGPS/INS integrated navigation system gives a reliable performance even when anomalous GPS data is provided and better navigation performance than a conventional GPS/INS integration unit.

A Development of CDGPS/INS integrated system with 3-dimensional attitude determination GPS Receiver (3차원 자세 결정용 GPS 수신기를 이용한 CDGPS/INS 통합 시스템 설계)

  • Lee, Ki-Won;Lee, Jae-Ho;Seo, Hung-Seok;Sung, Tae-Kyung
    • Proceedings of the KIEE Conference
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    • pp.2075-2077
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    • 2001
  • For precise positioning, GPS carrier measurements are often used. In this case, accurate position having mm${\sim}$cm error can be obtained. For 3D positioning, in CDGPS, more than five carrier phase measurements are required. When GPS signals are blocked or carrier phase measurements are insufficient, it cannot provide positioning solution. By integrating CDGPS with INS, continuity of positioning solution can be guaranteed. However, when a vehicle moves in low speed or in stationary, the CDGPS/INS integrated system is difficult to compensate INS attitude errors because GPS velocity error become relatively lange. In this paper, we used the 3D attitude GPS receiver to compensate the INS attitude error. By field experiments, it is shown that the proposed integration system maintains the navigation performance even when a vehicle is in low speed or GPS signal is blocked for a period of time.

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A Two-antenna GPS Receiver Integrated with Dead Reckoning Sensors (Two-antenna 자세 결정용 GPS 수신기와 DR 센서의 통합 시스템)

  • 이재호;서홍석;성태경;박찬식;이상정
    • 제어로봇시스템학회:학술대회논문집
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    • pp.186-186
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    • 2000
  • In the GPS/DR integrated system, the GPS position(or velocity) is used to compensate the DR output and to calibrate errors in the DR sensor. This synergistic relationship ensures that the calibrated DR accuracy can be maintained even when the GPS signal is blocked. Because of the observability problem, however, the DR sensors are not sufficiently calibrated when the vehicle speed is low. This problem can be solved if we use a multi-antenna GPS receiver for attitude determination instead of conventional one. This paper designs a two-antenna GPS receiver integrated with DR sensors. The proposed integration system has three remarkable features. First, the DR sensor can be calibrated regardless of the vehicle speed with the aid of two-antenna GPS receiver. Secondly, the search space of integer ambiguities in GPS carrier-phase measurements is reduced to a part of the surface of the sphere using DR heading. Thirdly, the detection resolution of cycle-slips in GPS carrier-phase measurements is improved with the aid of DR heading. From the experimental result, it is shown that the search grace is drastically reduced to about 3120 of the non-aided case and the cycle-slips of 1 or half cycle can be detected.

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