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Design of a low-cost attitude determination GPS/INS integrated navigation system

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Abstract

Due to their complementary features of GPS and INS, the GPS/INS integrated navigation system is increasingly being used for a variety of commercial and military applications. An attitude determination GPS (ADGPS) receiver, with multiple antennas, can be more effectively integrated with a low-cost IMU since the receiver gives not only position and velocity data but also attitude data. This paper proposes a low-cost attitude determination GPS/INS integrated navigation system. The proposed navigation system comprises an ADGPS receiver, a navigation computer unit (NCU), and a low-cost commercial MEMS IMU. The navigation software includes a fault detection and isolation (FDI) algorithm for integrity. In order to evaluate the performance of the proposed navigation system, two flight tests have been performed using a small aircraft. The first flight test confirmed the fundamental operation of the proposed navigation system and the effectiveness of the FDI algorithm. The second flight test evaluated the performance of the proposed navigation system and demonstrated the benefit of GPS attitude information in a high dynamic environment. The flight test results show that the proposed ADGPS/INS integrated navigation unit gives reliable navigation performance even when anomalous GPS data is provided and gives better navigation performance than a conventional GPS/INS unit.

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Abbreviations

ADGPS:

Attitude determination Global Positioning System

ARINC:

Aeronautical Radio Incorporated

BIT:

Built-in-test

CPU:

Central processing unit

DAQ:

Data acquisition

EEPROM:

Electrically erasable programmable read-only memory

EMI:

Electro-magnetic interference

FDI:

Fault detection and isolation

GPS:

Global Positioning System

IMU:

Inertial measurement unit

INP:

Integrated navigation package

INS:

Inertial navigation system

KARI:

Korea Aerospace Research Institute

MEMS:

Micro electro-mechanical systems

NCU:

Navigation computer unit

OS:

Operating System

PLL:

Phase locked loop

PPS:

Pulse-per-second

RSS:

Root-sum-square

SD:

Standard deviation

SDINS:

Strapdown inertial navigation system

SDLC:

Synchronous data link control

SRAM:

Static random access memory

UART:

Universal asynchronous receiver/transmitter

UAV:

Unmanned aerial vehicle

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Authors and Affiliations

  1. School of Electrical and Computer Engineering, Chungnam National University, 220 Gung-Dong, Yusong-Gu, Daejeon, 305-764, South Korea

    Dong-Hwan Hwang & Sang Jeong Lee

  2. Navicom Research & Development Center, Sinseong-dong 100, Yuseong-gu, Daejeon, 305-345, South Korea

    Sang Heon Oh

  3. School of Electrical and Electronics Engineering, Chungbuk National University, Cheongju, 361-763, South Korea

    Chansik Park

  4. Satellite Navigation and Positioning (SNAP) Group School of Surveying and Spatial Information Systems, The University of New South Wales, Sydney, NSW, 2052, Australia

    Chris Rizos

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  1. Dong-Hwan Hwang
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  2. Sang Heon Oh
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  3. Sang Jeong Lee
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  4. Chansik Park
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  5. Chris Rizos
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Correspondence to Dong-Hwan Hwang.

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Hwang, DH., Oh, S.H., Lee, S.J. et al. Design of a low-cost attitude determination GPS/INS integrated navigation system. GPS Solut 9, 294–311 (2005). https://doi.org/10.1007/s10291-005-0135-9

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