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An Integrated Navigation System Combining INS and Ultrasonic-Speedometer to Overcome GPS-denied Area

GPS 음영 지역 극복을 위한 INS/초음파 속도계 결합 항법 시스템 설계

  • Choi, Bu-Sung (Department of Electronics and Information Engineering, Korea Aerospace University) ;
  • Yoo, Won-Jae (Department of Electronics and Information Engineering, Korea Aerospace University) ;
  • Kim, La-Woo (Department of Electronics and Information Engineering, Korea Aerospace University) ;
  • Lee, Yu-Dam (Department of Electronics and Information Engineering, Korea Aerospace University) ;
  • Lee, Hyung-Keun (Department of Electronics and Information Engineering, Korea Aerospace University)
  • 최부성 (한국항공대학교 항공전자정보공학과) ;
  • 유원재 (한국항공대학교 항공전자정보공학과) ;
  • 김라우 (한국항공대학교 항공전자정보공학과) ;
  • 이유담 (한국항공대학교 항공전자정보공학과) ;
  • 이형근 (한국항공대학교 항공전자정보공학과)
  • Received : 2019.05.14
  • Accepted : 2019.06.25
  • Published : 2019.06.30

Abstract

Recently, multi-sensor integration techniques have been actively studied to obtain reliable and accurate navigation solution in GPS (Global Positioning System)-denied harsh environments such as urban canyons, tunnels, and underground roads. In this paper, we propose a low-cost ultrasonic-speedometer utilizing the characteristics of the ultrasonic propagation. An efficient integrated INS (inertial navigation system)/ultrasonic-speedometer navigation system is also proposed to improve the accuracy of positioning in GPS-denied environments. To evaluate the proposed system, car experiments with field-collected measurements were performed. By the experiment results, it was confirmed that the proposed INS/ultrasonic-speedometer system bounds the positioning error growth effectively even though GPS signal is blocked more than 10 seconds and a low-cost MEMS IMU (micro electro mechanical systems inertial measurement unit) is utilized.

최근 도심지, 터널, 지하도 등과 같이 위성항법시스템 (GPS; global positioning system) 신호 수신이 어려운 환경에서 안정적으로 정확한 위치 해를 획득하기 위한 다중센서 결합 기법들이 활발하게 연구되고 있다. GPS 음영 지역에서의 위치 정확도를 개선하기 위하여 본 논문에서는 초음파의 전파 특성을 활용하여 동체의 전방 속도를 추정할 수 있는 저가의 초음파 속도계(ultrasonic-speedometer)를 설계하였고, 이를 활용하여 관성항법시스템 (INS; inertial navigation system)과 효율적으로 결합하는 INS/초음파 속도계 결합 항법 시스템을 제안하였다. 제안된 시스템의 성능을 분석하기 위해 차량 탑재 실험을 수행하였다. 실험결과에 의하면 저가의 MEMS IMU (micro electro mechanical systems inertial measurement unit)를 활용하고 GPS 신호가 10초 이상 가용하지 않는 경우에도 제안된 INS/ 초음파 속도계 결합 항법 시스템은 위치 정보 정확도의 열화를 효과적으로 제한할 수 있음을 확인하였다.

Keywords

Acknowledgement

Supported by : 한국연구재단

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