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

  • 제8권12호
  • /
  • Pages.1067-1075
  • /
  • 2002
  • /
  • 1976-5622(pISSN)
  • /
  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
권호 표지
DOI QR코드

DOI QR Code

강결합 기법을 이용한 WNS/GPS 결합 시스템

WNS/GPS Integrated System Using Tightly Coupled Method

  • 조성윤 (관운대학교 제어계측공학과) ;
  • 박찬국 (광운대학교 정보제어공학과)
  • 발행 : 2002.12.01
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

The system error model for the compensation of the low-cost personal navigation system is derived and the error compensation method using GPS is also proposed. The walking navigation system (WNS) that calculates navigation information through walking detection has small error than INS, but the error also increases with time. In order to improve reliability of the system regardless of time, WNS is integrated with GPS. Since WNS is usually used in urban area, the blockage of CPS signal is frequently occurred. Therefore tightly coupled Kalman filter is used for the integration of WNS and GPS. In this paper, the system model for the design of tightly coupled Kかm filter is designed and measurement is linearized in consideration of moving distance error. It is shown by Monte Carlo simulation that the error is bounded even through the number of visible satellite is less than 4.

키워드

참고문헌

  1. Jay A. Farrell, Matthew Barth, The Global Positioning System & Inertial Navigation, McGraw-Hill, 1999
  2. M. S. Grewal, L. R. Weill, A. P. Andrews, Global Positioning Systems, Inertial Navigation, and Integration, Wiley-Interscience, 2001
  3. G. M. Siouris, Aerospace Avionics Systems : A Model Synthesis, Academic Press, 1993
  4. Rovert Grover Brown, Patrick Y. C. Hwang, Introduction to Random Signals and Applied Kalman Filtering, John Wiley & Sons, 1985
  5. H. Liu, G. Pang, 'Accelerometer for mobile robot positioning,' Proceedings of IEEE Industry Applications Society Conference, October 1999 https://doi.org/10.1109/IAS.1999.805974
  6. 홍진석, 윤선일, 지규인, 'GPS와 추측항법을 이용한 개인휴대 항법시스템,' 제어 . 자동화 . 시스템공학회 논문지, 제 7 권 제 5 호, 2001.5
  7. 조성윤, 박찬국, '보행항법장치의 모델링 및 오차 보정,' 대한전기학회 눈문지 제 51D 권 제 6 호, 2002. 6
  8. K. Sagawa, M. Susumago, H. Inooka, 'Unrestricted measurement method of Three-dimensional salking distance utilizing body acceleration and terrestrial magnetism,' Proceedings of the International Conference on Control, Automation and Systems, pp.707-710, October 2001
  9. Q. Ladetto, 'On foot navigation : continuous step calibration using both Kalman filtering,' ION GPS 2000, pp.1735-1740, September 2000
  10. 이준호, 조성윤, 진용, 박찬국, '개인 항법 시스템을 위한 가속도 측정장치의 배치에 따른 보행 특성 분석,' 한국 자동제어학술회의 논문집, 2000
  11. 김진원, 'GPS 반송파 위상과 INS를 상호 보완적으로 이용한 자세 추정,' 서울대학교 대학원 박사학위논문, 1998
  12. M. Cao, A. Kawamura, 'A design method of neural oscillatory networks for generation of humanoid biped walking patterns,' Proceedings of IEEE International Conference on Robotics & Automation, May 1998 https://doi.org/10.1109/ROBOT.1998.680676
  13. K. Aminian, Ph. Robert, E. Jequier and Y. Schutz, 'Level downhill and uphill walking identification using neural networks,' Electonics Letters Vol. 29, pp. 563- 1565 , Augutst, 1993 https://doi.org/10.1049/el:19931042
  14. K. Aminian, E. Jequier and Y. Schutz, 'Estimation of speed and incline of walking using neural network,' IEEE IMTC, pp.160-162, May 1994