Improvement of a Low Cost MEMS-based GPS/INS, Micro-GAIA

• 발행기관: 한국항해항만학회
• 저자명: Takeshi Fujiwara Toshiaki Tsujii Hiroshi Tomita Masatoshi Harigae
• 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

Recently, inertial sensors like gyros and accelerometers have been quite miniaturized by Micro Electro-Mechanical Systems (MEMS) technology. JAXA is developing a MEMS-based GPS/INS hybrid navigation system named Micro-GAIA. The navigation performance of Micro-GAIA was evaluated through off-line analysis by using flight test data. The estimation errors of the roll, pitch, and azimuth were 0.03°, 0.05°, and 0.33° (1ο), respectively. The horizontal position errors after 60-second GPS outages were reduced to 25m CEP. The attitude errors and position errors are nearly half of ones reported previously[2]. Furthermore, using the adaptive Kalman filters, the robustness against the uncertainty of the measurement noise was improved. Comparing the innovation-based and residual-based adaptive Kalman filters, it was confirmed that the latter is robuster than the former.

목차

1. Introduction

2. Micro-GAIA

3. Problem Formulation

4. Tests and Results

5. Conclusion

키워드

GPS/INS Hybrid Navigation MEMS Adaptive Kalman Filter Flight Test