제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Real-time Fault Detection Method for an AGPS/INS Integration System

  • Oh, Sang-Heon (Department of Electronic Engineering, Chungnam National University) ;
  • Yoon, Young-Seok (Department of Electronic Engineering, Chungnam National University) ;
  • Hwang, Dong-Hwan (School of Electrical and Computer Engineering, Chungnam National University)
  • Published : 2003.10.22
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Abstract

The GPS/INS integration system navigation can provide improved navigation performance and has been widely used as a main navigation system for military and commercial vehicles. When two navigation systems are tightly coupled and the structure is complicated, a fault in either the GPS or the INS can lead to a disastrous failure of the whole integration system. This paper proposes a real-time fault detection method for an AGPS/INS integration system. The proposed fault detection method comprises a BIT and a fault detection algorithm based on chi-square test. It is implemented by real-time software modules to apply the AGPS/INS integration system and van test is carried out to evaluate its performance.

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