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RISS 인기검색어
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- 저자 : Grejner brzezinska, Dorota-A. (검색결과 5 건)
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Multi-Sensor Personal Navigator : System Design and Calibration
Dorota A. Grejner-Brzezinska, Charles K. Toth, Yoonseok Jwa, Shahram Moafipoor, Jay Hyoun Kwon 서울시립대학교 도시과학연구원 2006 International journal of urban sciences (IJUS) Vol. No.
This paper presents the current design status and some preliminary calibration/performance analyses of the prototype of a multi-sensor personal navigator currently under development at The Ohio State University. The main purpose of this research project is to develop a theoretical foundation and algorithms which integrate the Global Positioning System (GPS), Micro-electro-mechanical inertial measurement unit (MEMS IMU), barometer and compass to provide seamless position information to support navigation and tracking of ground military and rescue personnel. The system is designed with an open-ended architecture, which would be able to incorporate additional navigation and imaging sensor data, extending the system’s operations to the indoor environments. The current target accuracy of the system is at 3-5 m CEP (circular error probable). In the current prototype implementation, the following sensors are integrated in the tightly coupled Extended Kalman Filter (EKF): GPS carrier phase and pseudorange data, Crossbow MEMS IMU400C, PTB220A barometer, and KVH Azimuth 1000 digital compass. This paper focuses on the design architecture of the integrated system and the preliminary performance analysis, with a special emphasis on the navigation during the loss of GPS signal. A brief description of the individual sensors and their calibration is presented, together with the navigation performance of the system of sensors. In addition, the system’s architecture designed to incorporate a simplified dynamic model of human locomotion is introduced. The system is trained during the GPS signal reception and is subsequently used to support navigation under no GPS signal. The stride parameters (step frequency and length), extracted from GPS data and the timed impact switches during the system calibration period, and the heading information from the compass and the IMU support the dead reckoning navigation, during the gaps in GPS signals. Some information included here is also presented in (Grejner-Brzezinska et al., 2006).
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TRIPLE DIFFERENCE APPROACH TO LOWEARTH ORBITER PRECISION ORBIT DETERMINATION
JayHyounKwon,염재홍,이동천,DorotaA.Grejner-Brzezinska 한국우주과학회 2003 Journal of Astronomy and Space Sciences Vol.20 No.1
Aprecisekinematicorbitdetermination(P-KOD)procedureforLowEarthOrbiter(LEO)usingtheGPSion-freetripledifferencedcarrierphasesispresented. Becausethetripledifferenced observables provide only relative information, the rst epochs positionsof the orbit should be held xed. Then, both forward and backward ltering was ex-ecuted to mitigate the effect of biases of the rst epochs position. P-KOD utilizesthe precise GPS orbits and groundstations data from International GPS Service (IGS)so that the only unknown parameters to be solved are positions of the satellite at eachepoch. Currently,the3-DaccuracyofP-KODappliedtoCHAMP (CHAllengingMin-isatellite Payload) shows better than 35 cm compared to the published rapid scienticorbit (RSO) solution from GFZ (GeoForschungsZentrumPotsdam). The data screen-ing for cycle slips is a particularly challenging procedure for LEO, which moves veryfast in the middle of the ionospheric layer. It was found that data screening usingSNR (signal to noise ratio) generates best results based on the residual analysis usingRSO. It is expectedthat muchbetteraccuracyareachievablewith renedprescreeningprocedure and optimized geometry of the satellites and ground stations.
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A Seamless Positioning System using GPS/INS/Barometer/Compass
Kwon Jay Hyoun,Grejner-Brzezinska D. A.,Jwa yoonseok 대한공간정보학회 2006 대한공간정보학회지 Vol.14 No.3
본 연구에서는, 보행자의 연속적이고 정확한 위치결정을 위한 보행자 측위시스템의 알고리즘을 소개하고 그 정확도를 분석하였다. 다양한 환경에서의 GPS 신호의 두절에 따른 위치의 불연속성을 해결하기 위하여, GPS, INS, 기압계와 방위계를 강결합의 형태인 중앙 집중형 칼만필터에서 융합하였다. 특히, 저가의 실질적인 시스템을 구성하기 위하여, MEMS IMU를 사용하였고, 실시간 계산의 용이성을 위하여 의사거리를 처리하였다. 이때 저가기기의 선택에 따른 높이와 방위값의 정확도를 보완하기 위하여 압력계와 방위계로부터 측정된 값을 이용한다. 편이, 스케일 오차 등의 상세한 수학적 모델과 융합방법을 소개하였고, 그 결과를 고성능의 GPS/INS 로부터 나온 결과와 비교 검토하였다. 특히 GPS 신호가 단절되었을 경우에 대한 위치 및 자세의 결과 비교를 통하여 위치 획득 정확도 및 기능성을 분석하였고, 향후 연구 방향을 소개하였다. In this contribution, an integration of seamless navigation system for the pedestrian is introduced. To overcome the GPS outages in various situations, multi-sensor of GPS, INS, electronic barometer and compass are considered in one Extented Kalman filter. Especially, the integrated system is designed for low-cost for the practical applications. Therefore, a MEMS IMU is considered, and the low quality of the heading is compensated by the electronic compass. In addition, only the pseudoranges from GPS measurements are considered for possible real-time application so that the degraded height is also controlled by a barometer. The mathematical models for each sensor with systematic errors such as biases, scale factors are described in detail and the results are presented in terms of a covariance analysis as well as the position and attitude errors compared to the high-grade GPSIfNS combined solutions. The real application scenario of GPS outage is also investigated to assess the feasible accuracy with respect to the outage period. The description on the current status of the development and future research directions are also stated.
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