INS/영상센서 결합 항법시스템 설계

Abstract

The errors of INS (Inertial Navigation System) are known to grow in time. To compensate the accumulated errors, measurements of external or onboard sensors are extensively utilized to form an integrated navigation system. Recently, INS/GPS integrated navigation systems have become popular since exact position and velocity information can be utilized by low cost GPS receivers. Unfortunately, this configuration cannot be trusted at all times especially when there are intentional or unexpected jammings and interruptions. To aid INS irrespectively of these cases, an INS/Image sensor integrated navigation system configuration is designed only based on the information of image sensor gimble angles. The performance of the INS/Image sensor integrated navigation system is evaluated by Monte Carlo simulation.