Research on Small UAV Integrated Navigation System Based on Fault Detection and Isolation Algorithm
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The role of the uav navigation system is to provide navigation data to the flight control computer for guidance and control. Any error in the navigation system may lead to the failure of the whole UAV. Therefore, the navigation system should have fault detection and isolation (FDI) algorithm. This paper studies a low-cost integrated navigation system with fault detection and isolation (FDI) for uav navigation. The hardware includes low-cost commercial MEMS, GPS receiver, magnetometer and navigation computer, and the software includes kalman filter with FDI algorithm. Through simulation experiments, it is verified that the system has certain practical value with faster convergence and smaller combination error after adopting FDI algorithm.Keywords:
Navigation System
Isolation
본 연구는 철강 회사의 기존 크레인의 위치 제어 시스템을 USN(Ubiquitous Sensor Network)과 GPS(Global
Positioning System) 시스템으로 대체하기 위한 시뮬레이션을 수행한 것이다. 크레인의 위치 제어 시스템을 지상국과
차상국의 통제 시스템으로 구분하였으며, 하드웨어 시스템은 GPS위성으로부터 크레인의 위치 제어 데이터를 수신하
는 GPS 수신기 모듈, 지상국과 차상국 간 통신을 하기 위한 블루투스 통신 모듈, 크레인의 위치를 정밀하게 제어하
는 초음파 센서 모듈, 크레인의 롤러를 대체한 모터, GPS 수신기 모듈과 블루투스 통신 모듈, 초음파 센서 모듈을 제
어하는 임베디드 MCU (ATmega1/28L) 등으로 구성하였으며, 소프트웨어 시스템은 GPS 위성으로부터 GPS 수신기 모
듈에 수신된 데이터 중 GGA 출력 문장을 필터링하기 위한 프로그램, 초음파 센서 구동프로그램, 크레인의 위치를 실
시간으로 모니터링 할 수 있는 디지털 지도 프로그램 등으로 구성하였다. 제안한 시스템은 위치제어를 1㎝ 간격으로
정확하게 조절이 가능함을 실험을 통해 확인하였다.
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The algorithms and the applications of Kalman filtering of SINS/GPS navigation system are presented in this paper. Shallow combinations mode is used in SINS/GPS subsystems. GPS provide position and velocity information, the difference value of position and velocity of the SINS and GPS are used as the measurement information of Kalman filtering. The indirect output correction method is adopted in Kalman filter. The estimation of parameter error is used to correct the navigation parameters of the output system, then the navigation parameters of the SINS/GPS navigation is got, which is named correction valuations of system navigation parameters. Examples with actual experiment demonstrate that the method has apparent superiority. The results of the simulation indicate valid and practical on Kalman filtering of SINS/GPS navigation system.
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斜面の安全監視において, 地表面変位を計測することは非常に重要であるが, 長期間にわたり高精度の地表面三次元変位計測を安定して実施することは容易ではない. そこで, GPS(Global Positioning System)の適用が考えられてきた. GPSは1980年代から斜面の変位計測に適用されていたが, 精度, 使いやすさ, コストの面で課題があり一般的な計測手法として普及が遅れていた. そこで筆者らは, 安価で使いやすいGPS機器の開発や高精度化の研究を進めてきた. また, それらの成果を用い, さらに, 計測したデータを集約し一括して自動解析し, 計測結果をインターネットによってユーザーに配信するWebシステムを構築し, より実用的かつ総合的なGPS自動変位監視システムを開発した. 本稿では, 斜面安全監視のためのGPS自動変位計測システムの概要と地すべり計測への適用事例について述べる.
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DGPM is proposed to solve the positioning problems during the GPS outages. When the GPS signal is available, the integrated system works under GPS/INS loosely-coupled mode. And the DGPM stores the GPS position information. Once the GPS data fails, the well trained module will continuously provide pseudo-GPS position data to aid the pure INS. Field test data was collected to evaluate the performance of the DGPM. It can been seen that, during the 20 s GPS outages, the proposed DGPM is much better than the pure INS mode.
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This paper presents a pilot model for fault detection. The pilot detection process is examined and a model based on an extended Kalman filter is derived. Evaluation is performed using a simulation of a B737. Failures are injected and the detection capabilities of the Kalman filter-based model are demonstrated.
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This paper presented GPS systematically and discussed the system structure,work principle,positioning method,function and speciality of GPS in detail.It introduced the GPS policy of USA and the violent competitions a in this field,especially revealed the real purpose of USA on the development of GPS by the plan of GPS modernization.At the same time,summarized objectively the conclusion that GPS is a global positioning system with more advanced on technology and more extensive for use in worldwide and it play important role of at present.
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GPS(Global Positioning System) 수신기는 오래전부터 상용과 군용 플랫폼 시스템에 기본적으로 적용되는 필수장치이다. 이러한 GPS 수신기를 무력화하기 위한 GPS 재밍 또한 오래전부터 매우 심각한 위협이었다. GPS 수신기를 장착하여 운용하는 시스템이 탑재된 플랫폼에서 독립적으로 GPS 재밍을 실시간으로 탐지하기란 매우 어렵다. GPS 수신기가 GPS 재밍에 취약한 이유는 GPS 수신기와 위성간 거리가 GPS 수신기와 재머간 거리보다 훨씬 멀기 때문이다. 이러한 거리차는 신호세기 측면에서 재머신호 세기가 GPS 위성신호세기보다 매우 크므로, GPS 수신기가 처리이득을 고려하더라도 재머에 취약할 수 있다. 본 논문은 GPS 위성과 재머 신호에 대한 GPS 수신기에서의 재밍신호 대 위성신호비(JSR)을 분석하였다. 이러한 분석을 통해 독립적인 플랫폼에서 GPS 재밍을 실시간으로 탐지하기 위하여, 상용 GPS 수신기와 군용 EGI(Embedded GPS&INS) 시스템으로 구성되는 새로운 방법을 제안한다.
GPS disciplined oscillator
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フィールド作業時の意思決定支援や適性作業の確認，そしてトレーサビリティーのためには，正確な農作業の記録，および記帳負担の軽減が必要である．そこで，GPSで得られる位置情報を基本データとすることで，正確な農作業の内容を自動的に導き出すシステムが有効である．本研究はGPSデータから作業内容を推論し，自動記録するためのシステムを検討した．自動記録は，GPSで求めた作業位置および時間から，データベース（圃場情報，作業情報，機械情報，肥料・農薬情報，作物情報）を参照し，ルールベース型推論およびファジィ推論を経て作業内容を推論する．また，作業軌跡から，圃場面積，作業能率，圃場作業効率等のデータ収集も可能である．更にフィールド外データも記録可能なため，圃場外の作業について記録分析が可能である．本研究では，複数の作業候補から実施作業を同定するために，GPSから得られる位置，作業軌跡，および速度をデータにして，ファジィ推論するアルゴリズムを開発し作業同定の有効性を確認した．
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In traditional way,GPS's position and velocity are used to be the measurement variables in Kalman filter design for INS/GPS integrated navigation system.Recently the GPS attitude determination system already has high attitude accuracy and without drift error.Based on a new GPS attitude determination system (Ms860),a new GPS/INS system is built in this pa- per.The position,velocity and attitude of GPS are chosen as the measurement variables in INS/GPS Kalman filter design.The error equations of this new integrated navigation system are described.Simulation results show that the evaluation precision and velocity of the navigation parameters were effectively improved in the new integrated navigation system.
GPS/INS
Navigation System
Position (finance)
GPS disciplined oscillator
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The purpose of this article is use GPS(Global Positioning System) equipment to applying in GIS teaching. To find the best way on using GPS. GPS device combine the software Google Earth, it will provide the whole world map for us. People can use GPS relation device for science explorer, recording objection on earth move track. The Global position system applying on everywhere become more and more popular. The price of GPS relation equipment. Using GPS equipment was impossible on the early time, but now it became a convenient equipment that every can use it in every field. It became more che aper and useful. Teachers can use GPS equipment on their teaching activity, and make study with it. There are 4 paragraph in this article: preface, the theory of GPS, GPS apply, the future of GPS, and conc lusion.
GPS tracking server
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