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고정밀 차량 궤적 추정을 위한 3차원 CSGNSS/DR 융합 시스템 개발
유상훈(Sang-Hoon Yoo),임정민(Jeong-Min Lim),전종화(Jong-Hwa Jeon),성태경(Tae-Kyung Sung) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.11
This paper presents a 3D carrier-smoothed GNSS/DR (Global Navigation Satellite System/Dead Reckoning) integrated system for precise ground-vehicle trajectory estimation. For precise DR navigation on sloping roads, the AHRS (Attitude Heading Reference System) methodology is employed. By combining the integrated carrier phase of GNSS and DR sensor measurements, a vehicle trajectory with an accuracy of less than 20cm is obtained even when cycle slip or change of visibility occur. In order to supplement the weak GNSS environment with DR successfully, the DR sensor is precisely compensated for using GNSS Doppler measurements when GNSS visibility is good. By integrating a multi-GNSS receiver with low-cost IMU, a precise 3D navigation system for land vehicles is proposed in this paper. For real-time implementation, a decoupled Kalman filter is employed in the integrated system. Through field experiments, the performance of the proposed system is verified in various road environments, including sloping roads, good-visibility areas, high multi-path areas, and under-ground parking areas.