Design of a loosely-coupled GPS/INS integration system

,; ,; ,; ,; ,; ,; ,

Journal of the Korea Institute of Military Science and Technology 1999;2(2):186-196.

, , , , , ,

¹
²

약결합 방식의 GPS/INS 통합시스템 설계

김종혁, 문승욱, 김세환, 황동환, 이상정, 오문수, 나성웅

¹충남대학교 전자공학과
²국방과학연구소

Abstract

The CPS provides data with long-term stability independent of passed time and the INS provides high-rate data with short-term stability. By integrating these complementary systems, a highly accurate navigation system can be achieved. In this paper, a loosely-coupled GPS/INS integration system is designed. It is a simple structure and is easy to implement and preserves independent navigation capability of GPS and INS. The integration system consists of a NCU, an IMU, a GPS receiver, and a monitoring system. The navigation algorithm in the NCU is designed under the multi-tasking environment based on a real-time kernel system and the monitoring system is designed using the Visual C++. The integrated Kalman filter is designed as a feedback formed 15-state filter, in which the states are position errors, velocity errors, attitude errors and sensor bias errors. The van test result shows that the integrated system provides more accurate navigation solution then the inertial or the GPS-alone navigation system.

Key Words: Navigation, GPS, INS, Integrated Navigation System, GPS/INS integrated System, Loosely-coupled Method