公开(公告)号：US20140149034A1

公开(公告)日：2014-05-29

申请号：US13943535

申请日：2013-07-16

Applicant: Electronics and Telecommunications Research Institute

Inventor： Seong-Yun CHO ,  Chang-Rak YOON ,  Jae-Hong OH ,  Hye-Sun PARK ,  Kyong-Ho Kim

IPC: G01C21/16

CPC classification number: G01C21/165 ,  G01S19/49

Abstract: Disclosed herein are an apparatus for integrating multiple rate systems and a method of operating an apparatus for integrating multiple rate systems. In the method of operating the apparatus, navigation information is calculated through an inertial measurement unit, and mean values and variances of initial state variables of the navigation information are set. Sigma points are calculated using the mean values and the variances. The mean values are time-propagated until measurement information is input through a Global Positioning System (GPS). When the measurement information is input, the sigma points are time-propagated at intervals of a frequency of the measurement information. Variances are calculated using the time-propagated sigma points. The navigation information is updated using the time-propagated mean values, the calculated variances, and the measurement information.

Abstract translation: 这里公开了一种用于集成多速率系统的装置和操作用于集成多速率系统的装置的方法。 在操作该装置的方法中，通过惯性测量单元计算导航信息，设定导航信息的初始状态变量的平均值和方差。 使用平均值和方差计算Sigma点数。 平均值是时间传播的，直到通过全球定位系统（GPS）输入测量信息。 当测量信息被输入时，Σ点以测量信息的频率的间隔被时间传播。 使用时间传播的σ点计算差值。 使用时间传播的平均值，计算的方差和测量信息来更新导航信息。