• Title/Summary/Keyword: INS

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Smoothing and Prediction of Measurement in INS/GPS Integrated Kalman Filter (INS/GPS 결합 칼만필터의 측정치 스무딩 및 예측)

  • Lee, Tae-Gyu;Kim, Gwang-Jin;Je, Chang-Hae
    • Journal of Institute of Control, Robotics and Systems
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    • v.7 no.11
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    • pp.944-952
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    • 2001
  • Inertial navigation system(INS) errors increase with time due to inertial sensor errors, and therefore it is desired to combine INS with external aids such as GPS. However GPS informations have a randomly abrupt jump due to a sudden corruption of the received satellite signals and environment, and moreover GPS can\`t provide navigation solutions. In this paper, smoothing and prediction schemes are proposed for GPS`s jump or unavailable GPS. The smoothing algorithm which is designed as a scalar adaptive filter, smooths abrupt jump. The prediction algorithm which is proved by Schuler error model of INS, estimates INS error in appropriate time. The outputs of proposed algorithm apply stable measurements to GPS aided INS Kalman filter. Simulations show that the proposed algorithm can effectively remove measurement jump and predict INS error.

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A Study on s-INS for Small and Medium-Sized Ships

  • Park, Nam-Kyu;Kim, Joo-Young;Kim, Woo-Chul
    • Journal of information and communication convergence engineering
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    • v.5 no.3
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    • pp.289-294
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    • 2007
  • With regard to a marine safety system, large vessels are generally loaded with INS (Integrated Navigation System). But although small and medium-sized ships are exposed to safety accidents in the sea, they are not carrying proper navigation devices and equipment. Accordingly, in order to develop INS for small and medium-sized ships(s-INS), an existing INS has newly been organized and integrated. Recently, more strict enforcement of INS-related regulations is expected at home and abroad, and the scope of their applications is being broadened. To keep up with this global trend that ships are being loaded with digital devices and equipment, this study has tried to develop s-INS, broadening its applications, and suggesting a future research plan.

A Development of Carrier Phase DGPS Aided with INS

  • Lee, Ki-Won;Lee, Jae-Ho;Seo, Hung-Serk;Sung, Tae-Kyung
    • 제어로봇시스템학회:학술대회논문집
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    • 2001.10a
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    • pp.133.1-133
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    • 2001
  • When the signals from satellite vehicles are blocked, it is impossible to provide positioning information. Integrating CDGPS with INS, the performances of output can be greatly improved. In the CDGPS/INS integrated system, the error growth in INS can be efficiently suppressed due to CDGPS. On the contrary, the search range of integer ambiguities can be reduced with the aids of INS. Furthermore, cycle slips in carrier phase measurements can be easily detected using INS. The paper presents a CDGPS/INS integrated system that utilizes CDGPS aided with INS. Using the outputs of CDGPS/INS integration filter, a method to reduce search range of integer ambiguities is proposed. A method to detect cycle slips in carrier phase measurements is ...

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Design of INS Simulated Equipment for Evaluation of Enhanced Jamming Resistance of INS-aided GPS Receivers (위성항법장치의 재밍대응 성능향상 검증을 위한 관성항법장치 모의 장치 설계)

  • Jung, Junwoo;Park, Sungyeol;Ahn, Byoung-Sun;Kang, Haeng-Ik;Kim, Kap Jin;Park, Youngbum
    • 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.

Implementation of Vehicle Navigation System using GNSS, INS, Odometer and Barometer

  • Park, Jungi;Lee, DongSun;Park, Chansik
    • Journal of Positioning, Navigation, and Timing
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    • v.4 no.3
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    • pp.141-150
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    • 2015
  • In this study, a Global Navigation Satellite System (GNSS) / Inertial Navigation System (INS) / odometer / barometer integrated navigation system that uses a commercial navigation device including Micro Electro Mechanical Systems (MEMS) accelerometer and gyroscope in addition to GNSS, odometer information obtained from a vehicle, and a separate MEMS barometer sensor was implemented, and the performance was verified. In the case of GNSS and GNSS/INS integrated navigation system that are generally used in a navigation device, the performance would deteriorate in areas where GNSS signals are not available. Therefore, an integrated navigation system that calculates a better navigation solution in areas where GNSS signals are not available compared to general GNSS/INS by correcting the velocity error of GNSS/INS using an odometer and by correcting the cumulative altitude error of GNSS/INS using a barometer was suggested. To verify the performance of the navigation system, a commercial navigation device (Softman, Hyundai Mnsoft, http://www.hyundai-mnsoft.com) and a barometer sensor (ST Company) were installed at a vehicle, and an actual driving test was performed. To examine the performance of the algorithm, the navigation solutions of general GNSS/INS and the GNSS/INS/odometer/barometer integrated navigation system were compared in an area where GNSS signals are not available. As a result, a navigation solution that has a smaller position error than that of GNSS/INS could be obtained in the area where GNSS signals are not available.

Evaluation of Large Scale Digital Mapping by Photogrammetry with GPS/INS (GPS/INS 항측에 의한 대축척 수치지형도 제작의 효율성 평가)

  • Wie, Gwang-Jae;Suh, Young-Woon;Yang, In-Tae;Choi, Yun-Soo;Lee, Ja-Young
    • Journal of Korean Society for Geospatial Information Science
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    • v.16 no.1
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    • pp.43-48
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    • 2008
  • In this study, it was estimated efficiency of GPS/INS photogrammetry by comparison of accuracy and economical efficiency between conventional aerial triangulation and GPS/INS aerial triangulation at the base of large scale digital mapping using GPS/INS aerial survey. The results of aerial triangulation with GPS/INS showed that 40% of working amount was reduced in the process of ground control point survey compared to conventional aerial triangulation. In case of 1/5000 scale aerial triangulation, the results showed that 55% GCP work was reduced in 10 and 20 block size, and 60% GCP work was reduced in 30 block size, under the assumption of keeping the same accuracy.

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