INS/GPS複合航法の精度向上に関する調査報告

The Research
of a New Low-Cost INS/GPS
Integrated Navigation
Masaru Naruoka
Outline
1.
2.
3.
4.
2005/12/2
Background
Method
Recent Activity
Conclusion
Suzuki-Tsuchiya Lab.
2
Background

Navigation systems for aircrafts and
spacecrafts
Best accuracy
 But, expensive


A new navigation system
Good accuracy and Inexpensive
 For widespread-use

2005/12/2
Suzuki-Tsuchiya Lab.
3
The block diagram of my method
(INS/GPS)
Tough to noise
INS
Acceleration
Angular
Velocity
MEMS Sensors
Very
Inexpensive
Position
Velocity
Quaternion
Based
Kalman Filter
Integration
Position
Velocity
Attitude
Attitude
Position,
Velocity etc…
GPS
2005/12/2
Suzuki-Tsuchiya Lab.
4
A view of the prototype
Gyro(Z)
Tri-Axes
Accelerometer
Gyro(X)
Gyro(Y)
2005/12/2
Suzuki-Tsuchiya Lab.
5
The block diagram of the prototype
Sensors
Accelerometer
$200
$100
Position(Lat, Long, Alt)
24bit
Gyro
Temperature
GPS
USB
A/D
Velocity
Raw Data(psuedorande, carrier-phase,
…)
PC
(for Data Recording
and Processing)
2005/12/2
Suzuki-Tsuchiya Lab.
6
A scene of the real flight
experiment (Nov 17, 2005)
At Chofu airport
2005/12/2
The
prototype
Suzuki-Tsuchiya Lab.
Crossbow
INS/GPS
(Reference
7
Result of Flight Test
Position
2005/12/2
Velocity
Suzuki-Tsuchiya Lab.
Attitude
8
Conclusion & Future work

A new INS/GPS system
Using MEMS sensors and quaternion
based Kalman filters
 Low cost and Good performance


Future work

2005/12/2
Try other methods (ex. to change filter)
Suzuki-Tsuchiya Lab.
9

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