Design of an Adaptive Filter for GPS/GLONASS Aided Inertial Navigation System

,; ,; ,; ,

Journal of the Korea Institute of Military Science and Technology 1998;1(1):201-210.

, , ,

GPS/GLONASS 보정 관성항법시스템의 적응필터 설계

박흥원, 제창해, 정태호, 박찬빈

국방과학연구소

Abstract

Inertial Navigation System(INS) can provide the vehicle position and velocity information using inertial sensor outputs without the use of external aids. Unfortunately INS navigation error increases with time due to inertial sensor errors, and therefore it is desirable to combine INS with external aids such as GPS, TACAN, OMEGA, and etc.. In this paper we propose an integration algorithm of commercial GPS/GLONASS and INS where an adaptive filter for signal processing of GPS/GLONASS receiver and the 12th order Kalman filter for aided strapdown INS(SDINS) we employed. Simulation results show that the proposed adaptive filter can effectively remove a randomly occurring abrupt jump due to sudden corruption of the received satellite signal and that the Kalman filter performs satisfactorily.

Key Words: INS, GPS, GLONASS, Aided INS, Adaptive Filter, Kalman Filter