• Title/Summary/Keyword: INS/GPS

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INS/GPS Integration System Using Adaptive Filter with Estimating Measurement Noise Variance (측정잡음 분산추정 적응필터를 이용한 INS/GPS 결합 시스템)

  • Yu, Myeong-Jong
    • Journal of Institute of Control, Robotics and Systems
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    • v.13 no.7
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    • pp.688-693
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    • 2007
  • The INS/GPS integration system is designed by employing an adaptive filter that can estimate the measurement noise variance using the residual of the filter. To verify the efficiency of the proposed loosely-coupled INS/GPS integration system, simulation is performed by assuming that GPS information has large position errors. Simulation results show that the proposed integration system with the adaptive filter is more effective in estimating the position and attitude errors than those with the Extended Kalman Filter.

Multi-Filter Fusion Technique for INS/GPS (INS/GPS를 위한 다중 필터 융합 기법)

  • 조성윤;최완식;김병두;조영수
    • 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.

Study on INS/GPS Sensor Fusion for Agricultural Vehicle Navigation System (농업기계 내비게이션을 위한 INS/GPS 통합 연구)

  • Noh, Kwang-Mo;Park, Jun-Gul;Chang, Young-Chang
    • Journal of Biosystems Engineering
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    • v.33 no.6
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    • pp.423-429
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    • 2008
  • This study was performed to investigate the effects of inertial navigation system (INS) / global positioning system (GPS) sensor fusion for agricultural vehicle navigation. An extended Kalman filter algorithm was adopted for INS/GPS sensor fusion in an integrated mode, and the vehicle dynamic model was used instead of the navigation state error model. The INS/GPS system was consisted of a low-cost gyroscope, an odometer and a GPS receiver, and its performance was tested through computer simulations. When measurement noises of GPS receiver were 10, 1.0, 0.5, and 0.2 m ($1{\sigma}$), RMS position and heading errors of INS/GPS system at 5 m/s straight path were remarkably reduced with 10%, 35%, 40%, and 60% of those obtained from the GPS receiver, respectively. The decrease of position and heading errors by using INS/GPS rather than stand-alone GPS can provide more stable steering of agricultural equipments. Therefore, the low-cost INS/GPS system using the extended Kalman filter algorithm may enable the self-autonomous navigation to meet required performance like stable steering or more less position errors even in slow-speed operation.

Analysis for stability and performance of INS/GPS integration system (INS/GPS 결합 시스템의 안정도 및 성능 분석)

  • Yang, Cheol-Kwan;Shim, Duk-Sun
    • 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.

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IIR/FIR 필터 융합에 의한 INS/GPS 성능향상

  • Jo, Seong-Yun;Kim, Byeong-Du;Jo, Yeong-Su;Choe, Wan-Sik
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • v.2
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    • pp.439-442
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    • 2006
  • 본 논문에서는 IIR/FIR 필터 융합을 위한 기법을 제안하고 이를 INS/GPS 결합항법장치에 적용한다. IIR 형태의 EKF와 FIR 형태의 RHKF 필터를 각 필터의 잉여값과 잉여값 공분산을 이용한 적응형 융합 확률을 계산하여 융합함으로써 두 필터의 장점을 갖도록 한다. 이 융합 기법을 적용한 INS/GPS 결합항법장치는 기존의 단독 필터를 사용하는 것보다 강인한 특성을 갖고 항법정보를 제공한다.

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An Attitude Error Estimation Performance Comparison of Tightly Coupled INS/GPS Navigation System using Different Measurements (강결합 방식의 INS/GPS 시스템에서의 자세 오차 추정 성능 비교)

  • Yu, Hae-Sung;Kim, Cheon-Joong;Yoo, Ki-Jeong;Lee, Youn-Seon;Park, Heung-Won
    • Journal of the Korea Institute of Military Science and Technology
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    • v.14 no.1
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    • pp.49-54
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    • 2011
  • This paper addresses the performance comparisons of the GPS pseudorange and pseudorange rate measurements in the tightly coupled INS/GPS Navigation systems. Even though the two measurements have the same ability in estimating level attitude errors, pseudorange rate has an advantage in improving estimating heading attitude error performance. The performance of pseudorange and pseudorange rate measurements is compared in numerical simulations and van test.

Performance Improvement of Azimuth Estimation in Low Cost MEMS IMU based INS/GPS Integrated Navigation System (저가형 MEMS 관성측정장치 기반 INS/GPS 통합 항법 장치에서 방위각 추정 성능 향상)

  • Chun, Se-Bum;Heo, Moon-Beom
    • Journal of Advanced Navigation Technology
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    • v.16 no.5
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    • pp.738-743
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    • 2012
  • Kalman filter is generally used in INS/GPS integrated navigation filter. However, the INS with low performance inertia sensor can not find accurate azimuth in initial alignment stage because sensor noise level is too large compare to Earth rotation rate, therefore the performance and stability of Kalman filter can not be guaranteed. In this paper, the extended Kalman filter and particle filter combined filter structure which can be overcome large initial azimuth error is proposed.

A Performance Comparison of Extended and Unscented Kalman Filters for INS/GPS Tightly Coupled Approach (INS/GPS 강결합 기법에 대한 EKF 와 UKF의 성능 비교)

  • Kim Kwang-Jin;Yu Myeong-Jong;Park Young-Bum;Park Chan-Gook
    • Journal of Institute of Control, Robotics and Systems
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    • v.12 no.8
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    • pp.780-788
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    • 2006
  • This paper deals with INS/GPS tightly coupled integration algorithms using extend Kalman filter (EKF) and unscented Kalman filter (UKF). In the tightly coupled approach, nonlinear pseudorange measurement models are used for the INS/GPS integration Kalman filter. Usually, an EKF is applied for this task, but it may diverge due to poor functional linearization of the nonlinear measurement. The UKF approximates a distribution about the mean using a set of calculated sigma points and achieves an accurate approximation to at least second-order. We introduce the generalized scaled unscented transformation which modifies the sigma points themselves rather than the nonlinear transformation. The generalized scaled method is used to transform the pseudo range measurement of the tightly coupled approach. To compare the performance of the EKF- and UKF-based tightly coupled approach, real van test and simulation have been carried out with feedforward and feedback indirect Kalman filter forms. The results show that the UKF and EKF have an identical performance in case of the feedback filter form, but the superiority of the UKF is demonstrated in case of the feedforward filer form.

Improvement of INS-GPS Integrated Navigation System using Wavelet Thresholding (웨이블릿 임계화 기법을 이용한 INS-GPS 결합항법 시스템의 성능향상)

  • Kang, Chul-Woo;Park, Chan-Gook;Cho, Nam-Ik
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.37 no.8
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    • pp.767-773
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    • 2009
  • This research have introduced wavelet signal processing technic for improving navigation signals. INS signals can be distorted with conventional pre-filtering method such as low-pass filtering by unwanted smoothing on real signals. But in this paper, wavelet thresholding method is implemented to INS signal to denoise for INS-GPS integrated system. This method reduces signal noise but not distorts the rapid varing signal. And this paper applied thresholding to INS-GPS integrated navigation system and improved navigation performance.

Fault Detection and Isolation of Integrated Inertial/Satellite Navigation Systems Using the Generalized Likelihood Ratio Test (일반공산비 기법을 이용한 INS/GPS 통합시스템의 고장 검출 및 격리)

  • Shin, Jung-Hoon;Im, Yu-Chul;Yoo, Jun
    • 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.

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