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A Study on GPS/INS Integration Considering Low-Grade Sensors

저급 센서를 고려한 GPS/INS 결합기법 연구

  • 박제두 (항공우주산업 KHP MEP팀) ;
  • 김민우 (현대 로템 통신제어개발팀) ;
  • 이제영 (한국항공대학교 항공전자공학과) ;
  • 김희성 (한국항공대학교 항공전자공학과) ;
  • 이형근 (한국항공대학교 항공전자 및 정보통신 공학부)
  • Received : 2012.12.03
  • Accepted : 2012.12.31
  • Published : 2013.02.01

Abstract

This paper proposes an efficient integration method for GPS (Global Positioning System) and INS (Inertial Navigation System). To obtain accuracy and computational conveniency at the same time with low cost global positioning system receivers and micro mechanical inertial sensors, a new mechanization method and a new filter architecture are proposed. The proposed mechanization method simplifies velocity and attitude computation by eliminating the need to compute complex transport rate related to the locally-level frame which continuously changes due to unpredictable vehicle motions. The proposed filter architecture adopts two heterogeneous filters, i.e. position-domain Hatch filter and velocity-aided Kalman filter. Due to distict characteristics of the two filters and the distribution of computation into the two hetegrogeneous filters, it eliminates the cascaded filter problem of the conventional loosly-coupled integration method and mitigates the computational burden of the conventional tightly-coupled integration method. An experiment result with field-collected measurements verifies the feasibility of the proposed method.

Keywords

References

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