| SDINS/GPS/ZUPT Integration Land Navigation System for Azimuth Improvement |
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Tae-Gyoo Lee, Yun-Cheol Cho, Suk-Won Jang, Jai-Yong Park, Chang-Ky Sung |
| 방위각 개선을 위한 SDINS/GPS/ZUPT 결합 지상 항법 시스템 |
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이태규, 조윤철, 장석원, 박재용, 성창기 |
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국방과학연구소 |
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| Abstract |
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This study describes an SDINS/GPS/ZUPT integration algorithm for land navigation systems. The SDINS error can be decoupled in two parts. The first part is the the Schuler component which does not depend on object motion parameters, and the other is the Non-Schuler part which depends on the product of object acceleration and azimuth error. Azimuth error causes SDINS error in proportion to the traversed distance. The proposed system consists of a GPS/SDINS integration system and an SDINS/ZUPT integration system, which are both realized by an indirect feedforward Kalman filter. The main difference between the two is whether the estimate includes the Non-Schuler error or not, which is decided by the measurement type. Consequently, subtracting GPS/SDINS outputs from SDINS/ZUPT outputs provide the Non-Schuler error information which can be applied to improving azimuth accuracy. Simulation results using the raw data obtained from a van test attest that the proposed SDINS/GPS/ZUPT system is capable of providing azimuth improvement. |
| Key Words:
SDINS, GPS, ZUPT, Integration system, Azimuth, Kalman filter |
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