S-Space College of Engineering/Engineering Practice School (공과대학/대학원) Dept. of Mechanical Aerospace Engineering (기계항공공학부) Others_기계항공공학부
Bias Suppression of GPS Measurement in Inertial Navigation System Vertical Channel
- Seo, Jaewon; Lee, Jang Gyu; Park, Chan Gook
- Issue Date
- PLANS 2004
- GPS Measurement may include bias type noise in it.
In this case, the measurement bias aggravates the estimation
ability of a filter for inertial navigation system and corrupts the
estimate of the filter. If the magnitude of the bias is large, fault
detection and isolation techniques are often used for rejection or
suppression of the effect of the bias. However, if the magnitude of
the bias is small, the fault detection and isolation techniques
cannot reject or suppress the effect of the bias. In this paper, the
INS vertical channel using a barometer and GPS is considered.
The GPS measurement is supposed to have bias noise. The
magnitude of the bias is supposed to be small, therefore the FDI
techniques cannot reject or suppress. For this case, a method of
estimating and compensating the measurement bias in GPS
output is proposed. In this scheme, the residuals of GPS output
with measurement bias are stored for appropriate duration and,
with these residuals, linear equations of measurement bias is
developed. Then, simple least square method can estimate the
bias, and, with this estimated value, GPS output can be
compensated and a portion of the bias can be removed. In
simulation results, it is shown that the scheme has an effect of
measurement bias suppression.
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