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• W2265196532 abstract "In this paper, we propose a new method for a land-vehicleIn-Motion Alignment by integrating Inertial Navigation Sys-tem, the transfer (code-based) Differential GPS and VehicleMotion Sensor (INS/DGPS/VMS). The VMS can providemoderately accurate speed of vehicle from measured wheelrevolution by an optical encoder. It is similar to the so-calledodometer. Our aim in this work is to integrate the advantagesof these systems and to develop the navigation system thatdoes not require initial attitudes information of the vehicle°In case of our previous conventional navigation system, theinitialization of INS navigation states is completed prior tovehicle motion. By stopping the vehicle at the start point,these initial states can be computed by integrating INS datawith static navigation data such as velocity 0 (ft/s) and ini-tial position obtained from DGPS. However this initializa-tion method usually requires 5 - 10 minutes and thus thevehicle must be stopped. However it is common occurrencethat there is not enough time to stop at the start point. Thus,for reducing the initial alignment time, developing the In-Motion Alignment algorithm is desired.In case of In-Motion Alignment, there exist some similarworks such as INS/GPS integrated system. In these works,it is assumed that the external information, i.e. GPS navi-gation data can be obtained continuously. In other words,if the GPS signal is not available because of obstructionssuch as tall buildings in the city, they cannot be performed.Therefore we propose a new integrated INS/DGPS/VMS In-Motion Alignment by applying the Kalman filter. Substi-tuting the VMS for DGPS as DGPS is not utilized, the al-gorithm is able to continue In-Motion Alignment in all cir-cumstances.In this paper, we consider In-Motion Alignment by usingDGPS and VMS properly. When the DGPS is available,accurate velocity and position data can be obtained andthey are used as the measurement to estimate the INS er-rors by the Kalman filter (INS/DGPS mode). On the otherhand, VMS sensor provides only speed data. Therefore ifthe DGPS signals are not available, VMS speed is used asthe measurement corresponding to DGPS (INS/VMS mode).For INS error model of the algorithm, the large azimuth er-ror model which formulates INS error (position, velocity,attitude) equations for large initial heading error and sensorerror [ 1] is adopted with some suitable modifications for ourcoordinate system•The experimental results show that, in case of In-motionalignment, although GPS navigation data are utilized dis-continuously, our INS/DGPS/VMS integration switchingmode provides almost the same accurate navigation data(position, velocity, attitude) comparing with INS/DGPSmode under GPS navigation data obtained continuously." @default.
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• W2265196532 date "2002-09-27" @default.
• W2265196532 modified "2023-09-23" @default.
• W2265196532 title "INS/DGPS/VMS Integration for In-Motion Alignment" @default.
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