Navigation Accuracy Improvement of High Dynamic GPS Receiver using Adaptive Kalman Filter |
Ki-Hoon Lee, Tae-Gyoo Lee, Ki-Won Song |
적응 칼만필터를 이용한 고가속 GPS 수신기의 항법정확도 향상 |
이기훈, 이태규, 송기원 |
국방과학연구소 |
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Abstract |
An adaptive Kalman filter is designed as a post-navigation filter to improve the accuracy of GPS receiver's navigation performance in high dynamic environments. Not only the adaptive Kalman filter reduces the large noise error of navigation data which is obtained by least square method, but also the filter is not degraded as normal Kalman filter in high acceleration movements because the system noise is estimated. Also an initialization structure of the filter is desisted in consideration for irregular output condition of navigation data by least squared method such as reacquisition status in GPS receiver. The filter performance is verified by GPS simulator which has the simulation capability of high velocity and acceleration. Finally, a vehicle test including DGPS is executed to conform the real improvement of that filter performance. This filter can be applied to various data measurement systems to improve accuracy in high dynamic conditions besides GPS receiver. |
Key Words:
GPS, Adaptive Kalman Filter, Least Square Method, High Dynamic |
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