Journal of the Korean Society for Aeronautical & Space Sciences (한국항공우주학회지)

The Korean Society for Aeronautical and Space Sciences (한국항공우주학회)
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Estimation of Precise Relative Position using INS/Vision Sensor Integrated System

INS/비전 센서 통합 시스템을 이용한 정밀 상대 위치 추정

  • 천세범 (건국대학교 항공우주정보시스템공학과) ;
  • 원대희 (건국대학교 항공우주정보시스템공학과) ;
  • 강태삼 (건국대학교 항공우주정보시스템공학과) ;
  • 성상경 (건국대학교 항공우주정보시스템공학과) ;
  • 이은성 (한국항공우주연구원) ;
  • 조진수 (한양대학교 기계공학부) ;
  • 이영재 (건국대학교 항공우주정보시스템공학과)
  • Published : 2008.09.04
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Abstract

GPS can provide precise relative navigation information. But it needs a reference station in a close range and is effected by satellite observation environment. In this paper, we propose INS and Vision sensor integrated system with a known landmark geometry. This system is supposed to overcome problems of GPS only system. Using the proposed method, a relative navigation is available without a GPS reference station. The only need for the proposed system is a landmark image which is drawn on the ground. We conduct simple simulation to check the performance of this method. As a result, we confirm that it can improve the relative navigation information.

GPS는 정밀한 상대 항법 정보를 제공해 줄 수 있으나 해당 지역에 기준국이 설치되어 있어야 하고 위성 관측 환경에 영향을 받는다는 단점이 있다. 본 논문에서는 이러한 GPS 단독 사용 시의 한계를 극복하기 위해 사전에 알고 있는 랜드 마크의 기하학적인 배열을 이용한 INS/비전 센서 통합 시스템을 제안한다. 제안된 방법은 사전에 그려진 랜드 마크의 이미지만 있으면 GPS 기준국 없이도 상대 항법 정보를 제공할 수 있다. 제안된 시스템은 간단한 시뮬레이션에 의해 성능을 검증하였으며, 이러한 결과 상대 항법 정보를 향상 시킬 수 있음을 확인하였다.

Keywords

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