| 摘要 |
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. |
