Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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A Development of Attitude GPS/INS Integration System

자세 측정용 GPS/INS통합 시스템 개발

  • Oh, Chun-Gyun (Dept. of Electrical Engineering, Chungnam National Univ.) ;
  • Lee, Jae-Ho (Dept. of Electronic Engineering, Chungnam National Univ.) ;
  • Seo, Hung-Seok (Dept. of Electronic Engineering, Chungnam National Univ.) ;
  • Sung, Tae-Kyung (Div. of Electrical and Computer Engineering, Chungnam National Univ.)
  • 오천균 (충남대학교 전기공학과) ;
  • 이재호 (충남대학교 전자 공학과) ;
  • 서흥석 (충남대학교 전자 공학과) ;
  • 성태경 (충남대학교 정보통신 공학부)
  • Published : 2001.07.18
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Abstract

In order to provided continuous solutions, latest developing navigation systems tend to integrate GPS receiver with INS or DR. Using the GPS carrier-phase measurements, an attitude GPS receiver with three antennas obtain the 3-dimensional attitude such as roll, pitch, and heading as well as position and velocity. With these angle measurements, in the attitude GPS/INS integrated system, attitude or gyro errors can be directly compensated. In this paper, we develop an integrated navigation system that combines attitude GPS receiver with INS. The performance of real-time integrated navigation system is determined by not only the implements of integration filter but also the synchronization of measurements. To meet these real-time requirements, the navigation software is implemented in multi-tasking structure in this paper. We also employ time-synchronization technique in the multi-sensor fusion. Experimental results show that the performance of the attitude GPS/INS integrated system is consistent even when cycle-slip occurs in carrier-phase measurements.

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