High-Performance Navigation System with Integration of Low-Precision MEMS INS and General-Purpose GPS
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概要
- 論文の詳細を見る
In this paper, we propose a new configuration for a strap-down, integrated INS/GPS (Inertial Navigation System/Global Positioning System) navigation system. It is aimed at general-purpose use, and utilizes MEMS (microelectromechanical system) sensors and a quaternion-based model that enable the development of a precise system with a degree of portability that traditional INS/GPS devices cannot achieve. In order to examine the effectiveness of our system, we built a prototype instrument and performed an experiment comparing its performance with GAIA, an ultra high-precision INS/GPS device developed by the Japan Aerospace Exploration Agency (JAXA). The results show that our small, light and low-cost system is applicable to general-purpose use, having a position error of only a few meters and under 2 degrees of roll and pitch error, which is sufficiently precise for the general control of moving objects.
- 社団法人 日本航空宇宙学会の論文
- 2008-02-04
著者
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Tsuchiya Takeshi
Department Of Aeronautics And Astronautics The University Of Tokyo
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Naruoka Masaru
Department Of Aeronautics And Astronautics The University Of Tokyo
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Tsuchiya Takeshi
Department of Aeronautics and Astronautics, The University of Tokyo
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