중력이상을 이용한 INS 결합항법 시스템의 성능 분석

Abstract

To overcome accumulated error of INS in non-GNSS environment, we propose EKF based integrated INS architecture, which can estimate INS position error, using gravity anomaly data. In this architecture, the gravity anomaly database is used to construct Kalman filter measurement matrix and gravity anomaly data is measured by gravity gradiometer in real time. In order to verify the performance of the proposed integrated INS, a simulation has been carried out by using a 30arcsec x 30arcsec gravity anomaly database in South Korea area. The results show that gravity anomaly data can be used to correct the drifting error in the INS whose errors are accumulated over time.