Journal of the Korean Society for Aeronautical & Space Sciences (한국항공우주학회지)

The Korean Society for Aeronautical and Space Sciences (한국항공우주학회)
권호 표지
DOI QR코드

DOI QR Code

Lever Arm Error Compensation of GPS/INS Integrated Navigation by Velocity Measurements

속도 측정치를 활용한 GPS/INS 통합 항법의 Lever arm 오차 보상

  • Received : 2012.09.04
  • Accepted : 2013.05.28
  • Published : 2013.06.01
Download PDF
⟨ Previous Next ⟩

Abstract

In GPS(Global Positioning System)/INS(Inertial Navigation System) integrated navigation systems, GPS antennas and an inertial measurement units are usually installed outside and inside of the vehicle, respectively. By the difference of installed locations, performance of GPS/INS integrated navigation systems is affected by lever arm errors. For more accurate navigation, lever arm errors need to be compensated correctly since it directly affects the accuracy of navigation states. This paper proposes an effective lever arm error compensation method that utilizes velocity measurements of GPS and INS. By an experiment, feasibility of the proposed algorithm is verified. It is also shown that lever arm compensation is especially important when vehicles are experiencing rotational movements.

GPS/INS 항법시스템의 설치에 있어서 대다수의 경우 GPS 수신기 안테나는 차량의 외부에 설치하게 되고 IMU는 내부에 설치하게 된다. Lever Arm 오차는 이와 같이 센서의 장착 위치 차이로 인하여 발생하는 구조적인 오차에 해당한다. Lever Arm 오차는 항법성능에 직접적으로 영향을 주기 때문에 적절한 보상이 반드시 필요하다. 본 논문에서는 GPS와 INS의 속도 측정치를 활용하여 임의의 위치에 장착된 두 센서의 Lever Arm 오차를 효과적으로 추정하고 보상하는 방식을 제안하였다. 실험을 통해 제안한 알고리즘의 타당성을 검증하였으며, 항체의 회전운동 구간에서 Lever Arm 오차 보상이 특히 중요함을 보였다.

Keywords

References

  1. EL Akim, DA Tuchin, "GPS errors statistical analysis for ground receiver measurements", Proc. of 17th International Symposium on Space Flight Dynamics; Preprint no.32, Keldysh IAM, RAS, Moscow, 2003.
  2. D. Jefferson, Y. Bar-Sever, "Accuracy and Consistency of Broadcast GPS Ephemeris Data", Proceedings of ION GPS2000, Salt Lake City, UT, pp. 391-395, Sept. 19-22, 2000.
  3. D. H. Trtterton and J. L. Weston, Strapdown Inertial Navigation Technology, Peter Peregrinus Ltd, 1997.
  4. J. A. Farrell and M. Barth, The Global Positioning System & Inertial Navigation, McGraw-Hill, New York, 1999.
  5. S. Hong, M. H. Lee, S. K. Kwon and H. H. Chun, "Car Test for the Estimation of GPS/INS Alignment Errors," IEEE Trans Intell, Transport. System., Vol. 5, no. 3, pp. 208-218. Sep. 2004. https://doi.org/10.1109/TITS.2004.833771
  6. T. Bell, "Analysis of attitude measurement in robotic ground vehicle positon determination," Navigation, vol.47, no.4, pp.289-296, 2000-2001.
  7. J. F. Wagner and G. Kasties, "Improving the GPS/INS integrated system performance by increasing the distance between GPS antenna and inertial sensors," Proc. Nat. Technical Meeting, Institute Navigation, San Diego, CA, pp.103-115, 2002.
  8. S. Hong, M. H. Lee, S. H. Chun, J. L. Speyer, "Experimental Study on the Estimation of Lever Arm in GPS/INS", IEEE Trans. Veh. Technol., vol.55, no.2, pp. 431-448, 2006. https://doi.org/10.1109/TVT.2005.863411
  9. J. W. Seo, H. K. Lee, J. G. Lee, C. G. Park, "Lever Arm Compensation for GPS/INS/Odometer Integrated System", Journal of Control, Automation and Systems Engineering, vol. 4, no. 2, pp. 247-254, 2006.
  10. J. H. Park, S. W. Lee, D. B. Park and D. H. Shin, "Lever Arm Compensation of Reference Trajectory for Flight Performance Evaluation of DGPS/INS installed on Aircraft," J. of The Korean Society for Aeronautical and Space Sciences, vol. 40, no. 12, pp. 1086-1092, 2006. https://doi.org/10.5139/JKSAS.2012.40.12.1086
  11. J. Wendel, G.F. Trommer, "Tightly coupled GPS/INS integration for missile applications", Aerospace Science and Technology, pp. 627-634, Aug. 2004.
  12. H. K. Lee, J. G. Lee, Y. K. Roh, C. G. Park, "Modeling Quaternion Errors in SDINS : Computer Frame Approach", IEEE Tr. Aerospace and Electronic Systems, Vol. 34, No. 1, pp. 289-299, 1998. https://doi.org/10.1109/7.640286
  13. S. M. Seong and K. H. Kang, "Kalman Filter Design For Aided INS Considering Gyroscope Mixed Random Errors," J. of The Korean Society for Aeronautical and Space Sciences, vol. 34, no. 4, pp. 47-52, 2012. https://doi.org/10.5139/JKSAS.2006.34.4.047
  14. H. K. Lee, C. Rizos and G. I. Jee, "Analyizing Position-Domain Hatch Filter for Real-Time Kinematic Differential GNSS," J. of The Korean Society for Aeronautical and Space Sciences, vol. 34, no. 2, pp. 48-55, 2006. https://doi.org/10.5139/JKSAS.2006.34.2.048

Cited by

  1. A Design of a Simplified Hybrid Navigation System for a Mobile Robot by Using Kalman Filter vol.9, pp.5, 2014, https://doi.org/10.14372/IEMEK.2014.9.5.299
  2. Stochastic Wheel-Slip Compensation Based Robot Localization and Mapping vol.16, pp.2, 2016, https://doi.org/10.4316/AECE.2016.02004