Navigation Mode Transition Design and Performance Validation for Heterogeneous Sensor Integration under Urban Flight Env
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ORIGINAL PAPER
Navigation Mode Transition Design and Performance Validation for Heterogeneous Sensor Integration under Urban Flight Environment Soojin Kim1 · Dong-Gyun Kim1 · Eunhak Koh1 · Young Jae Lee1 · Sangkyung Sung1 Received: 4 May 2020 / Revised: 23 August 2020 / Accepted: 22 September 2020 © The Korean Society for Aeronautical & Space Sciences 2020
Abstract This paper presents methods of mode transition in the integrated navigation based on selective sensor configurations to ensure continuous and reliable navigation performance in urban flight environments such as high-rise buildings. First, this paper characterizes candidate techniques using conventional DOP and error covariance for quantitative analysis of the navigation mode transition. Then, this paper proposes a new hybrid logic that reflects the deployment of heterogeneous sensor measurements considering characteristics of the urban flight environment. Through the proposed mode transition algorithm, enhanced estimation performance is achieved between GPS/INS integrated navigation and map-aided Range/INS integrated navigation. Finally, simulation and practical flight experiments under the urban flight environment demonstrated the suggested improvement of navigation performance. Keywords Mode transition · Navigation · Error covariance · DOP · Range/ins · Urban flight
1 Introduction Global positioning system (GPS) has been widely used in positioning. This generally provides good performance in an open field and suburban areas, but it can also cause significant errors due to factors such as multipath, signal blockage, and interference in urban environments with high-rise buildings [1]. For this reason, the study on GNSS positioning or integrating additional sensors such as INS was mostly conducted to compensate for the disadvantage in the past [2–5]. The integration of GPS and INS has been studied for decades and is still used because they maximize each of their advantages
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Sangkyung Sung [email protected] Soojin Kim [email protected] Dong-Gyun Kim [email protected] Eunhak Koh [email protected] Young Jae Lee [email protected]
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Department of Mechanical and Aerospace Engineering, Konkuk University, Seoul 05029, South Korea
and lead to higher performance when it is integrated. Given that INS has a drawback of degrading the performance with time, however, it can have a significant impact on navigation error in urban environments where a minimum of four satellites may not be visible for a long time. Moreover, it is likely to have an uneven distribution of visible satellites in an urban area even though there are more than four satellites visible. The positioning accuracy based on the deployment of satellites is normally represented by dilution of precision (DOP), and this is one of the causes of a navigation error. Falco [3] and Li [5] studied navigation for a GPS outage area through the GPS and INS integrated. Falco conducted a study on the performance of tightly coupled navigation algorithm using a low-cost sensor, and Li studied utilizing
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