DEVICE AND METHOD FOR ACQUIRING POSITION INFORMATION BY DATA FUSION OF GPS AND IMU

摘要

The present invention relates to a device and a method for acquiring position information by data fusion of a GPS and an IMU. The present invention comprises a GPS sensor for receiving a GPS signal from at least one or more satellites; an inertial measurement unit (IMU) for measuring inertial data according to a movement of a moving object; a control unit for monitoring whether a GPS signal is received; a matrix performing unit for processing input data provided by the GPS sensor and converting the input data provided by the GPS sensor to a Hankel matrix form so that position information of the moving object can be provided by the IMU if the GPS signal is not received as a result of monitoring by the control unit; and a singular value decomposition (SVD) algorithm performing unit for processing the converted Hankel matrix to provide the position information of the moving object. The present invention further comprises a coordinate conversion unit to which a direction cosine matrix is applied to mutually convert coordinate systems of the GPS sensor and the IMU and a Kalman filter supply unit for offsetting a cumulative error of the IMU, thereby providing high definition position information even in a region incapable of receiving a GPS.;COPYRIGHT KIPO 2014; [Reference numerals] (110) GPS sensor; (132) Hankel matrix performing unit; (134) SVD algorithm performing unit; (140) Control unit; (150) Coordinate transforming unit; (160) Kalman filter supply unit; (AA) Provide position information