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

  • 제9권9호
  • /
  • Pages.736-744
  • /
  • 2003
  • /
  • 1976-5622(pISSN)
  • /
  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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삼중 차분 기법을 이용한 AGPS/INS 통합 항법 시스템 설계

The AGPS/INS Integrated Navigation System Design Using Triple Difference Technique

  • 오상헌 (충남대학교 전자공학과) ;
  • 박찬식 (충북대학교 전기전자컴퓨터공학부) ;
  • 이상정 (충남대학교 전기정보통신공학부) ;
  • 황동환 (충남대학교 전기정보통신공학부)
  • 발행 : 2003.09.01
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초록

The GPS attitude output or carrier phase observables can be effectively utilized to compensate the attitude error of the strapdown inertial navigation system. However, when the integer ambiguity is not correctly resolved and/or a cycle slip occurs, an erroneous GPS output can be obtained. If the erroneous GPS information is directly applied to the AGPS/INS integration system, the performance of the system can be rapidly degraded. This paper proposes an AGPS/INS integration system using the triple difference carrier phase observables. The proposed integration system contains a cycle slip detection algorithm, in which inertial information is combined. Computer simulations and van test were performed to verify the proposed integration system. The results show that the proposed system gives an accurate and reliable navigation solution even when the integer ambiguity is not correct and the cycle slip occurs.

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참고문헌

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