IMU 장착오차를 고려한 열차용 INS/GPS/NHC 복합항법시스템

초록

INS (Inertial Navigation System) can be considered as a navigation system for trains. However, INS has the disadvantage of increasing errors over time, so it can be integrated with GPS to form an integrated navigation system. The train is driven based on the NHC (Non Holonomic Constraint)-based movement. Therefore, this information can be used as a measurement of the navigation system without additional sensors, and as a result, the performance and reliability of the integrated navigation system can be improved. However, if the IMU (Inertial Measurement Unit) is not correctly aligned with the body coordinate system of the train, the use of NHC information may cause a large error in the integrated navigation system. In this paper, an EKF (Extended Kalman Filter)-based integrated navigation filter is designed in consideration of the mounting error of the IMU, and the results are described.