국내 최대 기계 및 로봇 연구정보

기술보고서

기술보고서 게시판 내용
타이틀	Development of Carrier-phase DGPS/INS Hybrid Navigation Algorithm
저자	Masatoshi Harigae, Toshiaki Tsujii, Masaaki Murata, Hirokimi Shingu
Keyword	CDGPS/INS hybrid navigation, High Speed Flight Demonstrator
URL	http://send.nal.go.jp/send/jpn/dlpdf.php3/naltr0001416.pdf?id=NALTR0001416
보고서번호	NAL TR-1416
발행년도	2000.12
출처	NAL (National Aerospace Laboratory of Japan)
ABSTRACT	To enable precision approach and landing navigation, a carrier-phase DGPS/INS hybrid navigation system was developed characterized by the primary use of a GPS carrier-phase rather than a GPS pseudorange. Half the advantages of this system are derived from installing a reliable INS able to provide 6-degrees of freedom navigation data with a wide dynamic range, and maintain high availability and continuity. The other advantages of the system come from the use of DGPS/INS hybrid navigation to improve navigation accuracy. In this DGPS/INS hybrid navigation algorithm, we used the Kalman filter, which estimates the carrier-phase ambiguity as well as INS drift errors. This system can then utilize the GPS carrier-phase, although the majority of conventional DGPS/INS systems are based on the GPS pseudorange. Because the GPS carrier-phase is tolerant to multipath errors, sub-meter positioning performance is achieved, while conventional DGPS/INS systems achieve accuracy over several meters. The HSFD (High Speed Flight Demonstrator) is to be equipped with this system as a landing navigation system. The carrier-phase DGPS/INS hybrid navigation algorithm developed by NAL is installed on an onboard navigation computer. However there are no documents on the algorithm and the control logic of the onboard software. The purpose of this report is to clarify the algorithm and control logic in order to successfully develop a carrier-phase DGPS/INS hybrid navigation system for the HSFD.