지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
이용수
초록· 키워드
오류제보하기
As an alternative navigation system for the non-GNSS (Global Navigation Satellite System) environment, a new type of DBRN (DataBase Referenced Navigation) which applies both gravity gradient and terrain, and combines filter-based algorithm with profile matching was suggested. To improve the stability of the performance compared to the previous study, both centralized and decentralized EKF (Extended Kalman Filter) were constructed based on gravity gradient and terrain data, and one of filters was selected in a timely manner. Then, the final position of a moving vehicle was determined by combining a position from the filter with the one from a profile matching. In the simulation test, it was found that the overall performance was improved to the 19.957m by combining centralized and decentralized EKF compared to the centralized EKF that of 20.779m. Especially, the divergence of centralized EKF in two trajectories located in the plain area disappeared. In addition, the average horizontal error decreased to the 16.704m by re-determining the final position using both filter-based and profile matching solutions. Of course, not all trajectories generated improved performance but there is not a large difference in terms of their horizontal errors. Among nine trajectories, eights show smaller than 20m and only one has 21.654m error. Thus, it would be concluded that the endemic problem of performance inconsistency in the single geophysical DB or algorithm-based DBRN was resolved because the combination of geophysical data and algorithms determined the position with a consistent level of error.
목차
Abstract
1. Introduction
2. Methodologies
3. Performance Analysis of Combining Geophysical DBs and Algorithms
4. Conclusions
References
참고문헌 (30)
참고문헌 신청
Cowie, M., Wilkinson, N., and Powlesland, R. (2008), Latest developments of the TERPROM® digital terrain system (DTS), Proceedings of IEEE/ION PLANS 2008, ION, 6-8 May, Monterey, CA, USA, pp. 1219-1229.
Cox, D.B. (1978), Integration of GPS with inertial navigation systems, Navigations, Vol. 25, No. 2, pp. 236-245.
Dai, T., Miao, L., and Shao, H. (2019), A robust underwater navigation method fusing data of gravity anomaly and magnetic anomaly, Inernational Journal of Systems Science, Vol. 50, No. 4, pp679-693.
DeGregoria, A. (2010), Gravity Gradiometry and Map Matching: An Aid to Aircraft Inertial Navigation Systems, Master’s thesis, Graduate School of Engineering and Management, Air Force Institute of Technology, Wright- Patterson AFB, OH, USA, 130p.
Groves, P.D. (2013), Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Artech house, Boston, MA, USA.
Cox, D.B. (1978), Integration of GPS with inertial navigation systems, Navigations, Vol. 25, No. 2, pp. 236-245.
Dai, T., Miao, L., and Shao, H. (2019), A robust underwater navigation method fusing data of gravity anomaly and magnetic anomaly, Inernational Journal of Systems Science, Vol. 50, No. 4, pp679-693.
DeGregoria, A. (2010), Gravity Gradiometry and Map Matching: An Aid to Aircraft Inertial Navigation Systems, Master’s thesis, Graduate School of Engineering and Management, Air Force Institute of Technology, Wright- Patterson AFB, OH, USA, 130p.
Groves, P.D. (2013), Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Artech house, Boston, MA, USA.
함께 읽어보면 좋을 논문
논문 유사도에 따라 DBpia 가 추천하는 논문입니다. 함께 보면 좋을 연관 논문을 확인해보세요!
-
Analysis of Database Referenced Navigation by the Combination of Heterogeneous Geophysical Data and Algorithms
한국측량학회지
2016 .08
-
Detection of Voltage Sag using An Adaptive Extended Kalman Filter Based on Maximum Likelihood
Journal of Electrical Engineering & Technology
2017 .05
-
INS/GPS Integrated Smoothing Algorithm for Synthetic Aperture Radar Motion Compensation Using an Extended Kalman Filter with a Position Damping Loop
International Journal of Aeronautical and Space Sciences
2017 .03
-
The Evaluation of the Various Update Conditions on the Performance of Gravity Gradient Referenced Navigation
한국측량학회지
2015 .12
-
Accuracy Improvement of Multi-GNSS Kinematic PPP with EKF Smoother
Journal of Positioning, Navigation, and Timing
2021 .01
-
LSTM을 이용한 항법시스템의 확장칼만필터 공분산 튜닝
제어로봇시스템학회 논문지
2022 .02
-
IMM EKF based Sensor Fusion for Vehicle Positioning Under Various Road Surface Conditions
제어로봇시스템학회 국제학술대회 논문집
2020 .10
-
고속전투기의 지형추적 및 지상충돌회피시스템 안전성 향상 기법 연구
한국항공우주학회 학술발표회 초록집
2017 .11
-
디지털 지형 고도 데이터 레벨에 따른 Extended Kalman Filter기반 지형참조항법 성능 분석
한국항공우주학회 학술발표회 초록집
2016 .11
-
칼만필터(EKF)를 활용한 Li-Ion 배터리 충전상태 분석
대한전기학회 학술대회 논문집
2020 .07
-
개선된 시스템 모델과 EKF를 이용한 실시간 배터리 모델 변수 추정법
전력전자학회 학술대회 논문집
2016 .11
-
리튬 폴리머 배터리의 SOC 추정을 위한 확장 칼만 필터의 LSTM 기반 보정방법
한국자동차공학회논문집
2019 .07
-
IMM-EKF 기반 CNN 을 사용한 주차 차량 상태 추정 알고리즘
제어로봇시스템학회 국내학술대회 논문집
2023 .06
-
강체 배치 작업을 위한 EKF방법을 이용한 로봇 비젼 제어기법 개발
한국기계가공학회 춘추계학술대회 논문집
2016 .10
-
EKF를 이용한 무인잠수정의 위치 및 자세 추정
제어로봇시스템학회 국내학술대회 논문집
2019 .05
-
Effects of Initial Attitude Estimation Errors on Loosely Coupled Smartphone GPS/IMU Integration System
제어로봇시스템학회 국제학술대회 논문집
2020 .10
-
Decentralized Moving Average Filtering with Uncertainties
센서학회지
2016 .01
-
Performance Analysis of the Wireless Localization Algorithms Using the IR-UWB Nodes with Non-Calibration Errors
Journal of Positioning, Navigation, and Timing
2017 .01
-
EKF기반 목표물의 위치 및 Heading angle 추정
한국항공우주학회 학술발표회 초록집
2022 .04
-
A Fusion Structure of TRN and IBN with Adaptive Logic Based on Altitude Gradient
제어로봇시스템학회 국제학술대회 논문집
2019 .10
이 논문의 저자 정보
최근 본 자료
댓글(0)
0
UCI(KEPA) : I410-ECN-0101-2019-533-001289055