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GPS/INS NAVIGATION home > Research > GPS/INS Navigation
1. GPS
 
 GPS Global Positioning System ڷν κ ű İ ϴ ð ̿Ͽ ﰢ ġ ϴ ý̴. 翡 32 Block II/IIA/IIR/IIR-M GPS ϴ.

 GPS ̱漺 1973⿡ ý 1990 ߹ݺ ۵Ǿ. GPS ð, ¿ ׹ýν ó 뵵θ Ǿ 뼺 ޼ӵ ΰ ȮǾ 翡 ̸ Ϲ ׹ ý ڸ ִ. Ư 2000 5 1 ϴ (SA-Selective Availability) ν 100 ̾ ġ 10 ũ پ ġȮ ν о߿ ̰ ִ.  
 
Figure 1. Constellation of GPS satellite
 
 GPS ý̹Ƿ ҷ ̷ ũ (Space Segment), (Control Segment), (User Segment) ִ. GPS ڿ ƴ κ ȣ ޾ ̿ϴ ܹ ̴.
 Ϲ GPS ּ 4 ̻ ȣ ű⿡ ؼ, ġ ϴ ý̴. GPS ȣ ϱ , ŵǴ ȣ پ Ұ Ѵ. ̷ Ҵ ð , , , ׸ ű еȴ.

 GPS 10 ġȮ ׹ ý(Stand-alone GPS), 1~2 ġȮ ׹ ý(Differential GPS: DGPS) ׸ Ƽ ġȮ ݼ ׹ ý(Carrier phase Differential GPS: CDGPS) зȴ.
 
 
2. INS
 
 INS(Inertial Navigation System) 1950 ʹݿ ̱ MIT ߵǾ, 1960 ǿȭDZ ׹ ý̴. ʱ ġ κ ӵ Ͽ ν ü ӵ ġ Ѵ. INS ̷ ӵ(Accelerometer) ̷ν(Gyroscope) ȴ. ӵ ӵ Ͽ ְ ̷ν ӵ Ͽ ִ Ѵ.
 
Figure 2. INS Block Diagram
 
 INS ׹ش п ̱ , ŵ ظ ְ ª ð ȿ Ȯ ׹ظ Ѵ. ׹ ý̱ ܺ ȯ ҿ ʰ ׹ ϴ. ׹ظ ϴ ӵ 50Hz 10kHz ſ Ƽ ⵿ ü ׹  ̿ ִ. ظ ϱ ӵ ġ ð Ͽ ߻Ѵٴ ִ.

 INS ũ Strapdown ý۰ Gimbaled ý зȴ. Gimbaled ý ӵ ӵ Ǿ ְ ׹ ǥ踦 ϵ ȴ. Gimbaled ý ǥȯ ʿ䰡 Ȯϴٴ ̰ ſ ǰ ִ.

 Strapdown ý ְ Vehicle ¸ ϴµ  ʿ ¼Ҹ ϴٴ ִ. ׷ ӵ ӵ ü ǥ迡 ̱ ׹ ǥ ǥȯ ʿϰ Ǿ 귮 ũ þٴ ִ. Strapdown ý ȵǰ ǿȭ ǻ óӵ Strapdown ý 귮 ó ִ ̴. 翡 Strapdown ýۿ ַ ̷ ǿ Strapdown ý ߿ ִ.

 INS ý ġ ġ, ڼ ϱ INS ý ̶ ִ. Scale factor stability, Bias stability, ǥ Navigation Grade, Tactical Grade, Automotive Grade зȴ. ׸ ޿ ɿ Ȱо߸ Ÿ.
Figure 3. Current Gyro Technology Applications
 
Figure 4. Current Accelerometer Technology Applications
 
 
3. GPS/INS Integration
 
 GPS ű 踦 ġ ְ ð ϰ ϱ ǿ ׹ Ϲ ý̴. ׷ ׹ Ư jamming ܺ ȯ濡 ΰϴٴ ְ ɰ ĸ GPS blockage ߻Ͽ 4 ̸ Ǹ ġ ٴ ִ.

 INS ׹̱ ܺ ʰ ̸ ֱ ġظ ִ. ׷ ġ ڼ ϱ ð Ǿ ᱹ ׹ذ ߻ϴ ִ.

 GPS INS ϸ ݵ GPS INS ȣ ȿ Bound 鼭 ظ ִ ý ϴ.
 
 
GPS
INS
ġ
׹
(ﰢ)
׹
(ӵ, ӵ )
- 踦 Ŀ
-bound
- Ȯ
-
- ׹
- ֱ
-׹ Ӽ
-ġ 4 ̻ ʿ
-ܺ ȯ濡 ΰ
- ؿ
- ʿ
-ð ߻
Table 1. GPS vs. INS
 
  GPS INS ׸ GPS/INS սý ̴.
 
Figure 5. GPS vs. INS vs. GPS/INS
 
 ׸ INS ʱ⿡ GPS ߻ϴ ְ GPS Bound GPS Satellite Outage(blockage) ߻ 쿡 ġظ .

 GPS INS 츦 캸, GPS INS ȣ Ǿ GPS BoundǾ GPS ظ ְ GPS blockage Ȳ ġظ ִ. GPS INS ϴ Ŀ ũ , , ʰ ִ.
 
Figure 6. GPS/INS

  ǿ UAV, Land Vehicle, Pedestrian о߿ GPS/INS Ÿ ׹ ̴.