複合航法システムのためのGPS誤差モデルに関する一考察

伊藤 大樹; 木下 俊弘; 瀬川 泰伸; 足立 修一

doi:10.11511/jacc.54.0.358.0

THE 54TH JAPAN JOINT AUTOMATIC CONTROL CONFERENCE

Session ID : 2H304

DOI https://doi.org/10.11511/jacc.54.0.358.0

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Host: The Society of Instrument and Control Engineers, The Japan Society of Mechanical Engineers, The Institute of Systems, Control and Information Engineers, The Society of Chemical Engineers, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Toyohashi University of Technology, Technically Cosponsored by 51 Societies and Institutes

Identification and Estimation (1: Identification and Estimation in Biological and Space Systems)

A study on GPS error model for integrated navigation systems

*Daiki Ito, Toshihiro Kinoshita, Yasunobu Segawa, Shuichi Adachi

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Abstract

This paper considers a mathematical model of GPS positioning error for GPS/INS integrated navigation system. In previous study, loosely coupled system is adopted and GPS positioning error is assumed as Gaussian white noise. However, it has been confirmed that the error model doesn't match the behavior of actual positioning error. Thus, it is necessary to develop a more accurate positioning error model. In this paper, as a first step for constructing an accurate GPS positioning error model, errors in the position that is calculated from pseudoranges of specific 4 satellites is modeled. The model is evaluated by using data obtained by experiments.

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