• 한국군사과학기술학회지
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• 제3권2호
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• pp.131-139
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• 2000

A design of CPS attitude determination system is described in this paper. The designed system is a low cost high precision 24 channel single frequency GPS(Global Positioning System) receiver which provides a precise absolute heading and pitch (or roll) as well as a position. It uses commercial chip-set and consists of two RF parts, two signal-tracking parts, a processor, memory parts and I/Os. In order to determine precise attitude, accurate carrier phase measurements and an efficient integer ambiguity resolution method are required. To meet these requirements, a PLL (Phase Locked Loops) is designed, and an algorithm called ARCE (Ambiguity Resolution with Constraint Equation) is adopted. The hardware and software structure of the system will be described, and the performance evaluated under various conditions will be presented. The test results will promise that more reliable navigation system be possible because the system provides all navigational information such as position, velocity, time and attitude.

• 제어로봇시스템학회논문지
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• 제11권7호
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• pp.633-643
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• 2005

An unmanned aerial vehicle (UAV) is an aircraft controlled by .emote commands from ground station and/o. pre-programmed onboard autopilot system. A navigation system in the UAV provides a navigation data for a flight control computer(FCC). The FCC requires accurate and reliable position, velocity and attitude information for guidance and control. This paper proposes an ADGPS/INS integrated navigation system for a UAV. The proposed navigation system comprises an attitude determination GPS (ADGPS) receive., a navigation computer unit, and a low-cost commercial MEMS inertial measurement unit(IMU). The navigation algorithm contains a fault detection and isolation (FDI) function fur integrity. In order to evaluate the performance of the proposed navigation system, two flight tests were preformed using a small aircraft. The first flight test was carried out to confirm fundamental operation of the proposed navigation system and to check the effectiveness of the FDI algorithm. In the second flight test, the navigation performance and the benefit of the GPS attitude information were checked in a high dynamic environment. The flight test results show that the proposed ADGPS/INS integrated navigation system gives a reliable performance even when anomalous GPS data is provided and better navigation performance than a conventional GPS/INS integration unit.