Design of Multisensor Navigation System for Autonomous Precision Approach and Landing

• 발행기관: 한국항해항만학회
• 저자명: Ben K.H. Soon Steve Scheding Hyung-Keun Lee Hung-Kyu Lee
• 간행물 정보: 『한국항해항만학회 학술대회논문집』2006년도 International Symposium on GPS/GNSS Vol.1, 1~6쪽, 전체 6쪽
• 주제분류: 공학 > 해양공학
• 파일형태: PDF
• 발행일자: 2006.10.24

영문 초록

Precision approach and landing of aircraft in a remote landing zone autonomously present several challenges. Firstly, the exact location, orientation and elevation of the landing zone are not always known; secondly, the accuracy of the navigation solution is not always sufficient for this type of precision maneuver if there is no DGPS availability within close proximity. This paper explores an alternative approach for estimating the navigation parameters of the aircraft to the landing area using only time-differenced GPS carrier phase measurement and range measurements from a vision system. Distinct ground landmarks are marked before the landing zone. The positions of these landmarks are extracted from the vision system then the ranges relative to these locations are used as measurements for the extended Kalman filter (EKF) in addition to the precise time-differenced GPS carrier phase measurements. The performance of this navigation algorithm is demonstrated using simulation.

목차

1. Introduction

2. Integration Architectures

3. Velocity Estimation Using Differences of Carrier-Phase Measurements

4. Extended Kalman Filter Design Description

5. Simulation and Results

6. Conclusion

키워드

Inertial GPS vision tightly-coupled precision approach and landing