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Journal Article 차량용 INS/GPS 결합 시스템의 가관 측성 분석 및 다중 차수 필터 설계
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Authors
조성윤
Issue Date
2008-07
Citation
제어로봇시스템학회논문지, v.14, no.7, pp.702-710
ISSN
1976-5622
Publisher
제어로봇시스템학회
Language
Korean
Type
Journal Article
DOI
https://dx.doi.org/10.5302/J.ICROS.2008.14.7.702
Abstract
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 Keywords
GPS signal, INS/GPS integrated system, Land vehicle, Non-holonomic constraints, Sensor biases, State filter, Velocity errors, attitude error, multi-dimensional, observability analysis, velocity measurement