Measuring system for position and posture using multi-GPS constrained geometricaly

摘要

PURPOSE: A position and attitude measurement apparatus by using a multi global positioning system(GPS) based on geometrical structure is provided to allow an accurate position and attitude measurement by using a cheap GPS in comparison with an accurate position measurement system utilizing DGPS. CONSTITUTION: A position and attitude measurement apparatus by using a multi global positioning system(GPS) based on geometrical structure includes an inertial navigation sensor(100), a multi GPS receiver(200) and a calculator(300). The inertial navigation sensor(100) is provided with a gyro sensor(110) for measuring the angular change of the object and a speed sensor for measuring the speed of the object. The multi GPS receiver(200) includes at least two GPSs(210 - 240) placed in a symmetric structure. And, the calculator(300) corrects the position signals of the GPSs(210 - 240) based on the geometrical position signals from the multi GPS receiver(200) and generates the final position signals by using the corrected GPSs(210 - 240) and the signals from the inertial navigation sensor(100).