국내 최대 기계 및 로봇 연구정보

기술보고서

기술보고서 게시판 내용
타이틀	Development of Precision Approach and Landing Navigation System Using the Carrier-phase DGPS/INS Hybrid Navigation Algorithm
저자	Masatoshi HARIGAE, Toshiaki TSUJII, Masaaki MURATA, Takatsugu ONO, Toshiharu Inagaki, Hiroshi TOMITA, Yasuhiro MASUDA
Keyword	carrier-phase DGPS/INS hybrid navigation; error analysis; Kalman filter; flight evaluation
URL	http://send.nal.go.jp/send/jpn/dlpdf.php3/naltr0001399.pdf?id=NALTR0001399
보고서번호	NAL TR-1399
발행년도	2000.01
출처	NAL (National Aerospace Laboratory of Japan)
ABSTRACT	The FANS (Future Air Navigation System) committee, under the ICAO (International Civil Aviation Organization), is studying utilization of the global navigation satellite system and advising on the development of a GPS (Global Positioning System) precision approach and landing navigation system for improving flight safety around terminal areas.The principal problems in the creation of the system are as follows:1) Achievng sub-meter level accuracy,2) Providing 6-degree of freedom navigation information characterized by a wide dynamic range, and 3) Creating a system with high availability and high continuity. The FAA (Federal Aviation Administration) of the United States, in cooperation with several universities and laboratories, is developing a DGPS (Differential GPS) navigation system for Category Ⅲ landing, which provides high positioning accuracy using the smoothed pseudorange. Meanwhile a decision has been made to discontinue development of the kinematic GPS navigation system using the carrier phase because of problems with availability and continuity even if the system has centimeter-level positioning accuracy. We propose a GPS navigation system using the carrier phase, based on an idea different to that of FAA's kinematic GPS navigation. Our system employs the INS (Inertial Navigation System), widely recognized as a reliable form of navigation avionics, to provide 6-degree of freedom navigation information, and achieve a wide dynamic range, high availability and high continuity. Navigation accuracy is improved by integrating the INS with the DGPS. For the DGPS/INS integration, we used the carrier phase as a measurement for filtering the INS drift error. The proposed system then performs sub-meter level navigation because the carrier phase is tolerant to multipath errors in comparison with the pseudorange. The proposed system was evaluated via flight experiments using the NAL Dornier 228, while error analysis ensured the observability of the carrier phase ambiguity and the improvement of positioning accuracy. The experimental results show sub-meter level accuracy and robustness to the cycles slips resuiting in high availability and high continuity.