• Title/Summary/Keyword: vehicle navigation

Search Result 1,012, Processing Time 0.019 seconds

Effect of Vibration Suppression Device for GNSS/INS Integrated Navigation System Mounted on Self-Driving Vehicle

  • Park, Dong-Hyuk;Ahn, Sang-Hoon;Won, Jong-Hoon
    • Journal of Positioning, Navigation, and Timing
    • /
    • v.11 no.2
    • /
    • pp.119-126
    • /
    • 2022
  • This paper presents a method to reduce the vibration-induced noise effect of an inertial measurement device mounted on a self-driving vehicle. The inertial sensor used in the GNSS/INS integrated navigation system of a self-driving vehicle is fixed directly on the chassis of vehicle body so that its navigation output is affected by the vibration of the vehicle's engine, resulting in the degradation of the navigational performance. Therefore, these effects must be considered when mounting the inertial sensor. In order to solve this problem, this paper proposes to use an in-house manufactured vibration suppression device and analyzes its impact on reducing the vibration effect. Experimental test results in a static scenario show that the vibration-induced noise effect is more clearly observed in the lateral direction of the vehicle, but can be effectively suppressed by using the proposed vibration suppression device compared to the case without it. In addition, the dynamic positioning test scenario shows the position, speed, and posture errors are reduced to 74%, 67%, and 14% levels, respectively.

Ackermann Geometry-based Analysis of NHC Satisfaction of INS for Vehicular Navigation according to IMU Location

  • Cho, Seong Yun;Chae, Myeong Seok
    • Journal of Positioning, Navigation, and Timing
    • /
    • v.11 no.1
    • /
    • pp.29-34
    • /
    • 2022
  • In this paper, we analyze the Non-Holonomic Constraint (NHC) satisfaction of Inertial Navigation System (INS) for vehicular navigation according to Inertial Measurement Unit (IMU) location. In INS-based vehicle navigation, NHC information is widely used to improve INS performance. That is, the error of the INS can be compensated under the condition that the velocity in the body coordinate system of the vehicle occurs only in the forward direction. In this case, the condition that the vehicle's wheels do not slip and the vehicle rotates with the center of the IMU must be satisfied. However, the rotation of the vehicle is rotated by the steering wheel which is controlled based on the Ackermann geometry, where the center of rotation of the vehicle exists outside the vehicle. Due to this, a phenomenon occurs that the NHC is not satisfied depending on the mounting position of the IMU. In this paper, we analyze this problem based on Ackermann geometry and prove the analysis result based on simulation.

Integrated Navigation System Design of Electro-Optical Tracking System with Time-delay and Scale Factor Error Compensation

  • Son, Jae Hoon;Choi, Woojin;Oh, Sang Heon;Hwang, Dong-Hwan
    • Journal of Positioning, Navigation, and Timing
    • /
    • v.11 no.2
    • /
    • pp.71-81
    • /
    • 2022
  • In order for electro-optical tracking system (EOTS) to have accurate target coordinate, accurate navigation results are required. If an integrated navigation system is configured using an inertial measurement unit (IMU) of EOTS and the vehicle's navigation results, navigation results with high rate can be obtained. Due to the time-delay of the navigation results of the vehicle in the EOTS and scale factor errors of the EOTS IMU in high-speed and high dynamic operation of the vehicle, it is much more difficult to have accurate navigation results. In this paper, an integrated navigation system of EOTS which compensates time-delay and scale factor error is proposed. The proposed integrated navigation system consists of vehicle's navigation system which provides time-delayed navigation results, an EOTS IMU, an inertial navigation system (INS), an augmented Kalman filter and integration Kalman filter. The augmented Kalman filter outputs navigation results, in which the time-delay of the vehicle's navigation results is compensated. The integration Kalman filter estimates position, velocity, attitude error of the EOTS INS and accelerometer bias, accelerometer scale factor error, gyro bias and gyro scale factor error from the difference between the output of the augmented Kalman filter and the navigation result of the EOTS INS. In order to check performance of the proposed integrated navigation system, simulations for output data of a measurement generator and land vehicle experiments were performed. The performance evaluation results show that the proposed integrated navigation system provides more accurate navigation results.

A Study on the Longitudinal and Lateral Errors of Air Vehicle Heading for Auto-landing

  • Park, Ji Hee;Park, Hong Sick;Shin, Chul Su;Jo, Young-Wo;Shin, Dong-Ho
    • Journal of Positioning, Navigation, and Timing
    • /
    • v.2 no.2
    • /
    • pp.115-121
    • /
    • 2013
  • For the auto-landing operation of an air vehicle, the possibility of auto-landing operation should be first evaluated by testing the navigation performance through a flight test. In general, navigation performance is tested by analyzing north/east/down (NED) errors relative to reference equipment whose precision is about 8~10 times higher than that of a navigation system. However, to evaluate the auto-landing operation of an air vehicle, whether the air vehicle approaches a glide path aligned with the runway, within a specific error, needs to be examined rather than examining the north/east errors of the navigation system. Therefore, the longitudinal/lateral errors of air vehicle heading need to be analyzed. In this study, a method for analyzing the longitudinal/lateral errors of a navigation system was proposed as the navigation performance test method for evaluating the safety during the auto-landing of an air vehicle. Also, flight tests were performed six times, and the safety of auto-landing was examined by analyzing the performance using the proposed method.

A Gyro-Free INS Algorithm in the Navigation Frame and Its Application to the Spinning Vehicle with High Rotation Rate

  • Lee, Junhak;Kim, Heyone;Oh, Sang Heon;Do, Jae Chul;Nam, Chang Woo;Hwang, Dong-Hwan;Lee, Sang Jeong
    • Journal of Positioning, Navigation, and Timing
    • /
    • v.7 no.2
    • /
    • pp.91-103
    • /
    • 2018
  • Conventional inertial measurement units cannot be used in the spinning vehicle with high rotation rate due to gyro's narrow operation range. By the way, angular acceleration can be measured using the accelerometer array distributed in the vehicle. This paper derives a mechanization for the gyro-free INS in the navigation frame, and proposes a gyro-free INS algorithm based on the derived mechanization. In addition, the proposed algorithm is used to estimate angular velocity, attitude, velocity, and position of a spinning vehicle with high rotation rate. A MATLAB-based software platform is configured in order to show validation of the proposed algorithm. The reference trajectory of a spinning vehicle at 3 round per second, 30 round per second are set up, and the outputs of accelerometer are generated when triads of accelerometer are located at the origin and all the axes. Navigation results of the proposed algorithm for the generated output are presented. The results show that the proposed navigation algorithm can be applied to the spinning vehicle with high rotation rate.

Navigation Algorithm for Electro-Optical Tracking System of High Speed and High Maneuvering Vehicle with Compensation of Measurement Time-Delay (측정치 시간지연을 보상한 고속, 고기동 항체용 전자광학 추적장비 항법 알고리즘)

  • Son, Jae Hoon;Choi, Woo Jin;Oh, Sang Heon;Lee, Sang Jeong;Hwang, Dong-Hwan
    • Journal of Korea Multimedia Society
    • /
    • v.24 no.12
    • /
    • pp.1632-1640
    • /
    • 2021
  • In order to improve target tracking performance of the conventional electro-optical tracking system (EOTS) in the high speed and high maneuvering vehicle, an EOTS navigation algorithm is proposed, in which an inertial measurement unit(IMU) is included and navigation results of the vehicle are used. The proposed algorithm integrates vehicle's navigation results and the IMU and the time-delay and the scale factor errors are augmented into the integrated Kalman filter. In order to evaluate the proposed navigation algorithm, a land vehicle navigation experiments were performed a navigation grade navigation system, TALIN4000 and a tactical grade IMU, LN-200 and a equipment for roll motion were loaded on the land vehicle. The performance evaluation results show that the proposed algorithm effecting works in high maneuvering environment and for the time-delay.

A Study on the Performance Improvement of Position Estimation using the Multi-Sensor Fusion in a Combat Vehicle (다중센서 융합을 통한 전투차량의 위치추정 성능 개선에 관한 연구)

  • Nam, Yoonwook;Kim, Sungho;Kim, Kitae;Kim, Hyoung-Nam
    • Journal of Korean Society for Quality Management
    • /
    • v.49 no.1
    • /
    • pp.1-15
    • /
    • 2021
  • Purpose: The purpose of this study was to propose a sensor fusion algorithm that integrates vehicle motion sensor(VMS) into the hybrid navigation system. Methods: How to evaluate the navigation performance was comparison test with the hybrid navigation system and the sensor fusion method. Results: The results of this study are as follows. It was found that the effects of the sensor fusion method and α value estimation were significant. Applying these greatly improves the navigation performance. Conclusion: For improving the reliability of navigation system, the sensor fusion method shows that the proposed method improves the navigation performance in a combat vehicle.

Advanced Navigation Technology Development Trend as an Unmanned Vehicle Core Technology

  • Seok, Hyo-Jeong;Hwang, In Seong;Kang, Wanggu
    • Journal of Positioning, Navigation, and Timing
    • /
    • v.10 no.4
    • /
    • pp.235-242
    • /
    • 2021
  • Unmanned Aerial Vehicles (UAVs), which were used for military purposes, are gradually expanding their application fields under the influence of electrification and digitalization. Starting from the field of aerial imaging and Intelligence Surveillance and Reconnaissance (ISR) mission, nowadays the possibility of Urban Air Mobility (UAM), which transports passengers and cargo with drones, is widely under discussion. In order to occupy the rapidly growing global unmanned aerial vehicle market in advance, it is necessary to secure core technologies and develop key UAVs components based on the new technologies. In the navigation field, it is necessary to secure a precise position with guaranteed reliability and continuity, unrelated to the operating environments. The reliability and continuity should be secured in the algorithm level and in the H/W component levels also. In order to achieve this technical goal, the Ministry of Science and ICT has launched the 'Unmanned Vehicle Core Technology Research and Development Program' in 2019 to support the R&D on the unmanned vehicle technologies. In this paper, authors introduce the unmanned vehicle core technology research and development program to the related researchers. The authors summarize the backgrounds of the program and show the technological tasks and objectives on the sub-programs in the unmanned vehicle navigation program. We present the program schedules especially focused on the test and evaluation of the developed technologies and components.

MEMS GPS/INS Navigation System for an Unmanned Ground Vehicle Operated in Severe Environment (극한 무인 로봇 차량을 위한 MEMS GPS/INS 항법 시스템)

  • Kim, Sung-Chul;Hong, Jin-Seok;Song, Jin-Woo
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.13 no.2
    • /
    • pp.133-139
    • /
    • 2007
  • An unmanned ground vehicle can perform its mission automatically without human control in unknown environment. To move up to a destination in various surrounding situation, navigational information is indispensible. In order to be adopted for an unmanned vehicle, the navigation box is small, light weight and low power consumption. This paper suggests navigation system using a low grade MEMS IMU for supplying position, velocity, and attitude of an unmanned ground vehicle. This system consists of low cost and light weight MEMS sensors and a GPS receiver to meet unmanned vehicle requirements. The sensors are basically integrated by loosely coupled method using Kalman filter and internal algorithms are divided into initial alignment, sensor error compensation, and complex navigation algorithm. The performance of the designed navigation system has been analyzed by real time field test and compared to commercial tactical grade GPS/INS system.

A Study on the Utilization of LNS's Navigation Data to Decide the Possibility of a Vehicle's Leveling (수평정치 가능여부 판단을 위한 LNS 항법정보 활용방안 연구)

  • Hwang, Chan-Oh;You, Chang-Seok;Park, Yun-Ho;Lee, Jeong-Hun
    • Journal of the Korea Institute of Military Science and Technology
    • /
    • v.14 no.4
    • /
    • pp.548-555
    • /
    • 2011
  • This paper presents a new method of measuring the ground's gradient using LNS(land navigation system) navigation data. When a vehicle equipped with LNS arrives at any place, LNS provides its navigation data which contain the information on vehicle's motion. We developed some formulas which can explain correlation between the vehicle's motion and ground's gradient. The proposed method using those formulas is shown to be accurate and convenient.