상세정보
학술지
차량용 INS/GPS 결합 시스템의 가관 측성 분석 및 다중 차수 필터 설계
- 저자
- 조성윤
- 발행일
- 200807
- 출처
- 제어로봇시스템학회논문지, v.14 no.7, pp.702-710
- ISSN
- 1976-5622
- 출판사
- 제어로봇시스템학회
- 협약과제
- 08MC2900, 실내외 연속측위 기술개발, 최완식
- 초록
- In this paper, the observability of the INS/GPS integrated system for a land vehicle is analyzed on measurements and different filters with respect to the measurements are designed. In the stationary case, it is shown that horizontal accelerometer biases and vertical attitude errors and gyro biases are unobservable. An 8-state filter is designed based on the observability analysis. When GPS signal is available, a 15-state filter is used with position and velocity measurements. To estimate the INS errors even in the case that GPS signal is blocked a filter is designed in consideration of the non-holonomic constraints of a land vehicle. In this case, the horizontal position and velocity errors and vertical attitude error are unobservable. However, a 12-state filter including the velocity states is designed to estimate the accelerometer biases. When GPS signal recovers, a 9-state filter is used excluding the sensor biases. This paper presents a multi-dimensional filter that switches the four filters according to the usable measurements and maneuver environments. A simulation is carried out to verify the performance of the proposed filter.
- KSP 제안 키워드
- GPS signal, INS/GPS integrated system, Land vehicle, Non-holonomic Constraints, Observability Analysis, Sensor biases, State filter, Velocity errors, attitude error, multi-dimensional, velocity measurement