논문KCI 등재
Periodic Bias Compensation Algorithm for Inertial Navigation System
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참고문헌
주제분류해상운송학
초록
Abstract
In this paper, an INS compensation algorithm is proposed using the accelerometer from IMU. First, we denote the basic INS algorithm and show that how to compensate the position error when low cost IMU is used. Second, considering the ship's characteristic and ocean environments, we consider with a drift as a periodic external environment change which is affected with exact position. To develop the compensation algorithm, we use a repetitive method to reduce the external environment changes. Lastly, we verify the proposed algorithm through the experiments, where the acceleration sensor is used to acquire real data.
참고문헌 (8)
- "Kalman Filtering with Real-time Applications" (1987), Springer-Verlag
- "Adaptive tuning of a Kalman filter via fuzzy logic for an intelligent AUV navigation system", 12, pp.1531~1539 (2004)
- "Non-linear Mathematical Model for Integrated Global Positioning", Inertial Navigation System, 2000, pp.115, 191~212
- "Extended Kalman Filter Synthesis for Integrated Global Positioning", Inertial Navigation System, 2000, pp.115, 213~227
- "The Global Positioning System and Inertial Navigation" (1998), McGraw-Hill.
- "Applying the principle of integrated navigation systems to estimating the motion of large vehicles", 8, pp.155~166 (2004)
- "Inertial Navigation System Analysis" (1971)
- "INS Algorithm using Quaternion Model for Low Cost IMU", 46, pp.221~246 (2004)
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