Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Error Analysis and Compensation of Measurement Delay in INS/GPS Integrated Systems with Kalman Filtering

칼만필터를 사용하는 INS/GPS 결합시스템에서 측정치 지연에 의한 오차 분석 및 보상

  • Park, Chan-Gook (Dept.of Control Instrumentation Engineering, Kwangwoon University) ;
  • Cho, Seong-Yun (Dept.of Control Instrumentation Engineering, Kwangwoon University) ;
  • Jin, Yong (Dept.of Control Instrumentation Engineering, Kwangwoon University)
  • 박찬국 (광운대학교 제어계측공학과) ;
  • 조성윤 (광운대학교 제어계측공학과) ;
  • 진용 (광운대학교 제어계측공학과)
  • Published : 2000.11.01
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Abstract

In this paper, the error caused by the measurement delay in INS/GPS integrated systems with Kalman filtering is defined and analyzed through the analytical method and the simulation. It is proved that the error of measurement delay causes not only the position error but also the estimate error of the x-axis accelerometer bias when a vehicle turns. And the estimation method of the delay time and the compensation method using an extrapolation method are presented. The performance of the compensation method is shown by the analytic method and the simulation.

Keywords

References

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