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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Profile-based TRN/INS Integration Algorithm Considering Terrain Roughness

지형 험준도를 고려한 프로파일 기반 지형참조항법과 관성항법의 결합 알고리즘

  • 유영민 (서울대학교 기계항공공학부/자동화시스템공동연구소) ;
  • 이선민 (서울대학교 기계항공공학부/자동화시스템공동연구소) ;
  • 권재현 (서울시립대학교) ;
  • 유명종 (국방과학연구소) ;
  • 박찬국 (서울대학교 기계항공공학부/자동화시스템공동연구소)
  • Received : 2012.12.03
  • Accepted : 2012.12.31
  • Published : 2013.02.01
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Abstract

In recent years alternative navigation system such as a DBRN (Data-Base Referenced Navigation) system using geophysical information is getting attention in the military navigation systems in advanced countries. Specifically TRN (Terrain Referenced Navigation) algorithm research is important because TRN system is a practical DBRN application in South Korea at present time. This paper presents an integrated navigation algorithm that combines a linear profile-based TRN and INS (Inertial Navigation System). We propose a correlation analysis method between TRN performance and terrain roughness index. Then we propose a conditional position update scheme that utilizes the position output of the conventional linear profile type TRN depending on the terrain roughness index. Performance of the proposed algorithm is verified through Monte Carlo computer simulations using the actual terrain database. The results show that the TRN/INS integrated algorithm, even when the initial INS error is present, overcomes the shortcomings of linear profile-based TRN and improves navigation performance.

Keywords

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