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성창기,이태규,이정신,박재용,Sung, Chang-Ky,Lee, Tae-Gyoo,Lee, Jung-Shin,Park, Jai-Yong 한국군사과학기술학회 2006 한국군사과학기술학회지 Vol.9 No.4
Strapdown Inertial navigation systems consist of an inertial sensor assembly(ISA), electronic modules to process sensor data, and a navigation computer to calculate attitude, velocity and position. In the ISA, most gryoscopes such as RLGs and FOGs, have digital output, but typical accelerometers use current as an analog output. For a high precision inertial navigation system, sufficient stability and resolution of the accelerometer board converting the analog accelerometer output into digital data needs to be guaranteed. To achieve this precision, the asymmetric error and A/D reset scale error of the accelerometer board must be properly compensated. If the relation between the acceleration error and the errors of boards are exactly known, the compensation and estimation techniques for the errors may be well developed. However, the A/D Reset scale error consists of a pulse-train type term with a period inversely proportional to an input acceleration additional to a proportional term, which makes it difficult to estimate. In this paper, the effects on the acceleration output for auto-pilot situations and the effects of A/D reset scale errors during horizontal alignment are qualitatively analyzed. The result can be applied to the development of the real-time compensation technique for A/D reset scale error and the derivation of the design parameters for accelerometer board.
방위각 개선을 위한 SDINS/GPS/ZUPT 결합 지상 항법 시스템
이태규,조윤철,장석원,박재용,성창기,Lee, Tae-Gyoo,Cho, Yun-Cheol,Jang, Suk-Won,Park, Jai-Yong,Sung, Chang-Ky 한국군사과학기술학회 2006 한국군사과학기술학회지 Vol.9 No.1
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.