권재현
(Dept. of Geoinformatics, University of Seoul)
,
(Dept. of Civil & Environment Engineering & Geodetic Science, The Ohio State University)
,
좌윤석
(Dept. of Civil & Environment Engineering & Geodetic Science, The Ohio State University)
본 연구에서는, 보행자의 연속적이고 정확한 위치결정을 위한 보행자 측위시스템의 알고리즘을 소개하고 그 정확도를 분석하였다. 다양한 환경에서의 GPS 신호의 두절에 따른 위치의 불연속성을 해결하기 위하여, GPS, INS, 기압계와 방위계를 강결합의 형태인 중앙 집중형칼만필터에서 융합하였다. 특히, 저가의 실질적인 시스템을 구성하기 위하여, MEMS IMU를 사용하였고, 실시간 계산의 용이성을 위하여 의사거리를 처리하였다. 이때 저가기기의 선택에 따른 높이와 방위값의 정확도를 보완하기 위하여 압력계와 방위계로부터 측정된 값을 이용한다. 편이, 스케일 오차 등의 상세한 수학적 모델과 융합방법을 소개하였고, 그 결과를 고성능의 GPS/INS 로부터 나온 결과와 비교 검토하였다. 특히 GPS 신호가 단절되었을 경우에 대한 위치 및 자세의 결과 비교를 통하여 위치 획득 정확도 및 가능성을 분석하였고, 향후 연구 방향을 소개하였다.
본 연구에서는, 보행자의 연속적이고 정확한 위치결정을 위한 보행자 측위시스템의 알고리즘을 소개하고 그 정확도를 분석하였다. 다양한 환경에서의 GPS 신호의 두절에 따른 위치의 불연속성을 해결하기 위하여, GPS, INS, 기압계와 방위계를 강결합의 형태인 중앙 집중형 칼만필터에서 융합하였다. 특히, 저가의 실질적인 시스템을 구성하기 위하여, MEMS IMU를 사용하였고, 실시간 계산의 용이성을 위하여 의사거리를 처리하였다. 이때 저가기기의 선택에 따른 높이와 방위값의 정확도를 보완하기 위하여 압력계와 방위계로부터 측정된 값을 이용한다. 편이, 스케일 오차 등의 상세한 수학적 모델과 융합방법을 소개하였고, 그 결과를 고성능의 GPS/INS 로부터 나온 결과와 비교 검토하였다. 특히 GPS 신호가 단절되었을 경우에 대한 위치 및 자세의 결과 비교를 통하여 위치 획득 정확도 및 가능성을 분석하였고, 향후 연구 방향을 소개하였다.
In this contribution, an integration of seamless navigation system for the pedestrian is introduced. To overcome the GPS outages in various situations, multi-sensor of GPS, INS, electronic barometer and compass are considered in one Extented Kalman filter. Especially, the integrated system is design...
In this contribution, an integration of seamless navigation system for the pedestrian is introduced. To overcome the GPS outages in various situations, multi-sensor of GPS, INS, electronic barometer and compass are considered in one Extented Kalman filter. Especially, the integrated system is designed for low-cost for the practical applications. Therefore, a MEMS IMU is considered, and the low quality of the heading is compensated by the electronic compass. In addition, only the pseudoranges from GPS measurements are considered for possible real-time application so that the degraded height is also controlled by a barometer. The mathematical models for each sensor with systematic errors such as biases, scale factors are described in detail and the results are presented in terms of a covariance analysis as well as the position and attitude errors compared to the high-grade GPS/INS combined solutions. The real application scenario of GPS outage is also investigated to assess the feasible accuracy with respect to the outage period. The description on the current status of the development and future research directions are also stated.
In this contribution, an integration of seamless navigation system for the pedestrian is introduced. To overcome the GPS outages in various situations, multi-sensor of GPS, INS, electronic barometer and compass are considered in one Extented Kalman filter. Especially, the integrated system is designed for low-cost for the practical applications. Therefore, a MEMS IMU is considered, and the low quality of the heading is compensated by the electronic compass. In addition, only the pseudoranges from GPS measurements are considered for possible real-time application so that the degraded height is also controlled by a barometer. The mathematical models for each sensor with systematic errors such as biases, scale factors are described in detail and the results are presented in terms of a covariance analysis as well as the position and attitude errors compared to the high-grade GPS/INS combined solutions. The real application scenario of GPS outage is also investigated to assess the feasible accuracy with respect to the outage period. The description on the current status of the development and future research directions are also stated.
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문제 정의
electronic compass is presented. The purpose of the study is to generate an optimal position and attitude by the integration of those sensors especially for the personal navigation. The system is designed for low-cost so that a MEMs IMU (Micro-ElectroMBhanical Systems; Inertial Measurement Unit) is integrated for which the barometer and the compass aid the low quality estimates of height and heading.
제안 방법
As an initial step of the development, the mathematical model to combine the various measurements is constructed and a priori covariance analysis is performed through a suitable algorithm such as a tight integration filter. In fact, the modules used in this study mainly extracted and modified from the earlier developed the AIMS system (Airborne Integrated Mapping System), which combines GPS phase and INS measurements in a tightly coupled mode and provides a continuous in-flight calibration of the INS solution and IMU measurement errors (Bar-Itzhack et.
for feasibility test. One way to accomplish that task is to take the estimates of IMU systematic errors, such as biases and scale factors from AIMS, then remove these effects from the LN-100 raw data, and assume these data as the true values. Then, we add proper systematic as well as random errors correspond to the low-degree IMU specification to the LN-100 raw data.
Since the purpose of this study is to develop a seamless positioning system, intentional GPS outage in the data is assumed and the remaining data is processed in the system. To investigate the effect of the outage duration, 30, 60, 120, and 240 seconds of GPS gaps are simulated and the results are presented in Table 3.
Four sensors, namely GPS, INS, barometer, and compass are considered in a Kalman filter to generate a continuous navigation solution. The measurements from those equipments are mathematically modeled to include systematic errors such as biases and scale factor errors as well as the random white noises. Therefore, the system generates navigation solution with estimates on the systematic errors.
To verify the developed mathematical model and algorithm, a synthetic data is constructed based on measurements of GPS phases and navigation grade LN-100 as well as the positions and attitudes estimates from AIMS with those measurements. In other words, the raw data for MEMS IMU, barometer, and compass are simulated by intentionally degrading the reference data and solution.
성능/효과
Therefore, the system generates navigation solution with estimates on the systematic errors. Comparing the results to the precise reference solution from AIMS, it was found that the position accuracy of 1 meter and attitude of 1 degree is achievable. In the test of GPS outage, however, the horizontal position and pitch and roll are seriously degraded since those are mainly affected by IMU only while heading and height are compensated from compass and barometer, respectively.
후속연구
Based on the sensors output with various body motion such as walking, running, and turning, the motions could be either mathematically modeled or defined by a look up table. It is expected that this body motion modeling will significantly improves the performance of the system especially in GPS outage so that provides continuous navigation solution with proper accuracy.
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