국내 최대 기계 및 로봇 연구정보

기술보고서

기술보고서 게시판 내용
타이틀	Error Analysis of the DGPS/INS Hybrid Navigation System and its Flight Evaluation
저자	Masatoshi HARIGAE, Toshiaki TSUJII, Masaaki MURATA, Takatsugu ONO, Toshiharu INAGAKI, Hiroshi TOMITA
Keyword	DGPS/INS hybrid navigation; error analysis; Kalman filter; flight evaluation
URL	http://send.nal.go.jp/send/jpn/dlpdf.php3/naltr0001398.pdf?id=NALTR0001398
보고서번호	NAL TR-1398
발행년도	2000.01
출처	NAL (National Aerospace Laboratory of Japan)
ABSTRACT	In this paper we propose a method for navigation error analysis, which is indispensable for the practical application of the DGPS/INS hybrid navigation system in the aerospace field, and then conduct flight tests to evaluate the results of error analysis using this method. The proposed method is characterized by the application of the latest technical expertise to error models of GPS and INS sensors. This feature makes the method far more reliable than conventional methods. The method is also characterized by its capability to predict navigation performance of even the most advanced navigation algorithms, such as the DGPS navigation algorithm and the OTF ambiguity resolution algorithm. The error analysis using the proposed method makes it possible not only to predict navigation performance attainable by the DGPS/INS hybrid navigation system but also to identify the error sources that affect performance. Once those error sources are identified, we can propose and evaluate a new algorithm to prevent them from affecting navigation performance. All these steps contribute to the creatia of a more sophisticated DGPS/INS hybrid navigation system. More specificly, we applied the method to predicting the performance and characteristics of the DGPS/INS hybrid navigation system, the multi-antenna DGPS/INS hybrid navigation system and the rendezvous and docking DGPS navigation system. Of these, the error analysis of the DGPS/INS hybrid navigation system was evaluated by flight tests. The flight test data demonstrated that the proposed method was highly accurate, confirming its reliability. The parameter values used in the error models also matched the data acquired at ground test facilities such as a 3-axis motion table. As a result, this study successfully establishes a unique and highly reliable method for navigation error analysis of the DGPS/INS navigation system, thus contributing to progress in the practical application of the system.