• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.55-55
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• 2000

This paper presents a fault detection and isolation(FDI) method based on Ceneralized Likelihood Ratio(GLR) test for the tightly coupled INS/GPS. State and measurement GLR tests detect INS or GPS fault. Once the fault is detected, Multi-hypothesized GLR scheme performs the fault isolation between INS and GPS and find which satellite malfunctions. Simulation results show that the GLR method is effective enough to detect and isolate a fault of the integrated navigation system.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.10
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• pp.48-55
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• 2006

A multi-filter fusion technique is proposed and this technique is applied to the INS/GPS integrated system. IIR-type EKF and FIR-type RHKF filter are fused to provide the advantages of these filters based on the adaptive mixing probability calculated by the residuals and the residual covariance matrices of the filters. In the INS/GPS, this fusion filter can provide more robust navigation information than the conventional stand-alone filter.

• Journal of the Korea Institute of Military Science and Technology
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• v.1 no.1
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• pp.201-210
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• 1998

Inertial Navigation System(INS) can provide the vehicle position and velocity information using inertial sensor outputs without the use of external aids. Unfortunately INS navigation error increases with time due to inertial sensor errors, and therefore it is desirable to combine INS with external aids such as GPS, TACAN, OMEGA, and etc.. In this paper we propose an integration algorithm of commercial GPS/GLONASS and INS where an adaptive filter for signal processing of GPS/GLONASS receiver and the 12th order Kalman filter for aided strapdown INS(SDINS) we employed. Simulation results show that the proposed adaptive filter can effectively remove a randomly occurring abrupt jump due to sudden corruption of the received satellite signal and that the Kalman filter performs satisfactorily.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.445-447
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• 1998

This paper shows simulation results for stability and performance of two INS/GPS integration systems. First, the code tracking error of GPS receiver is analyzed by spectrum analysis and simulated for the tight and loose INS/GPS integrations. Next, stability of the integrated systems are simulated using root locus method. As loop filter in the GPS receiver, passive filter and active filter are used and compared.

• Journal of Advanced Navigation Technology
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• v.21 no.4
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• pp.339-346
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• 2017

We propose the design of an INS simulated equipment to evaluate the enhanced jamming resistance of an INS-aided GPS receiver with INS, when a jamming signal is injected into a simulated high dynamic platform. We propose the design of a relative cheap INS simulated equipment, instead of an expensive INS simulator connected to GPS simulators. Based on the design, we implement the equipment and setup high dynamic test environment using the equipment to evaluate an INS-aided GPS receiver. In the GPS L1 C/A and L2C simulations that inject jamming signals of the narrow and wide bandwidth into the GPS receiver with and without INS-aided algorithm, we obtain increased jamming resistance performance as +5 dB compared with the GPS receiver without INS-aided algorithm in all kinds of jamming bandwidth. Based on the simulations, we verified that the INS simulated equipment can be used to evaluate the enhanced jamming resistance of INS-aided GPS receivers.

• Journal of Korean Society for Geospatial Information Science
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• v.14 no.3 s.37
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• pp.47-53
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• 2006

In this contribution, an integration of seamless navigation system for the pedestrian is introduced. To overcome the GPS outages in various situations, multi-sensor of GPS, INS, electronic barometer and compass are considered in one Extented Kalman filter. Especially, the integrated system is designed for low-cost for the practical applications. Therefore, a MEMS IMU is considered, and the low quality of the heading is compensated by the electronic compass. In addition, only the pseudoranges from GPS measurements are considered for possible real-time application so that the degraded height is also controlled by a barometer. The mathematical models for each sensor with systematic errors such as biases, scale factors are described in detail and the results are presented in terms of a covariance analysis as well as the position and attitude errors compared to the high-grade GPS/INS combined solutions. The real application scenario of GPS outage is also investigated to assess the feasible accuracy with respect to the outage period. The description on the current status of the development and future research directions are also stated.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.7
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• pp.592-601
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• 2018

The GPS/INS integrated navigation system, which is one of the electronic equipments mounted on military aircraft store, can not directly receive GPS signals by the aircraft wing before the drop, so GPS navigation data is received from the aircraft and used for filter integration, afterwards, the integrated navigation is performed using the GPS information directly received through the antenna. In this case, it is possible to operate the mount in old aircraft without any modification of the aircraft when GPS data is transmitted using wireless. However, the delay occurs while the aircraft navigation data is transmitted to the integrated navigation filter of the aircraft store via wireless, which affects the time synchronization of the GPS measurement and the INS information, affecting the integrated navigation performance. In this paper, an algorithm to analyze and compensate the effect of generation and transmission delay that can occur when implementing GPS/INS integrated navigation system of aircraft store that receives GPS data via wireless.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.22 no.3
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• pp.285-291
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• 2004

GPS photogrammetry or the GPS/INS photogrammetry, which are based on the direct measurement of the projection centers and attitude at the moment of camera exposure time through loading the GPS receiver or INS in aircraft. Both photogrammetric methods can offer us to acquire the exterior orientation parameters with only minimum ground control points, even the ground control process could be completely skipped. Consequently, we can drastically reduce the time and cost for the mapping process. In this thesis, test flight was conducted in Suwon area to evaluate the performance of accuracy and efficiency through the analysis of results among the three photogrammetric methods, that is, traditional photogrammetry, GPS photogrammetry and GPS/INS photogrammetry. Test results shows that a large variety of advantages of GPS photogrammetry and GPS/INS photogrammetry against traditional photogrammetry is to be verified. Especially, the number of ground control points for the exterior orientation could be saved more than 70～80%, respectively.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.984-989
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• 2003

The integrated global position system (GPS) and inertial navigation system (INS) has been considered as a cost-effective way of providing an accurate and reliable navigation system for civil and military system. Even the integration of a navigation sensor as a supporting device requires the development of non-traditional approaches and algorithms. The objective of this paper is to assess the feasibility of integrated with GPS and INS information, to provide the navigation capability for long term accuracy of the integrated system. Advanced algorithms are used to integrate the GPS and INS sensor data. That is fuzzy inference system based Weighted Extended Kalman Filter(FWEKF) algorithm INS signal corrections to provided an accurate navigation system of the integrated GPS and INS. Repeatedly, these include INS error, calculated platform corrections using GPS outputs, velocity corrections, position correction and error model estimation for prediction. Therefore, the paper introduces the newly developed technology which is aimed at achieving high accuracy results with integrated system. Finally, in this paper are given the results of simulation tests of the integrated system and the results show very good performance

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.33.1-33
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• 2002

The INS provides high rate position, velocity and attitude data with good short-term stability while the GPS provides position and velocity data with long-term stability. By integrating the INS with GPS, a navigation system can be achieved to provide highly accurate navigation performance. For the best performance, time synchronization of GPS and INS data is very important in GPS/INS integrated system. But, it is impossible to synchronize them exactly due to the communication and computation time-delay. In this paper, to reduce the error caused by the measurement time-delay in GPS/INS integrated systems, error compensation methods using separate bias Kalman filter are suggested for both the...