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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
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dc.contributor.advisor | 王立昇(Li-Sheng Wang) | |
dc.contributor.author | Jina-Qun Hou | en |
dc.contributor.author | 侯建群 | zh_TW |
dc.date.accessioned | 2021-06-13T04:19:47Z | - |
dc.date.available | 2006-07-31 | |
dc.date.copyright | 2006-07-31 | |
dc.date.issued | 2006 | |
dc.date.submitted | 2006-07-22 | |
dc.identifier.citation | [1] Spagnol, C.; Muradore, R.; Assom, M.; Beghi, A.; Frezza, R. : “Model based GPS/INS integration for high accuracy land vehicle applications”, IEEE Proceedings, Intelligent Vehicle Symposium, June 2005, Page(s):400-405
[2] Sinpyo Hong, Man Hyung Lee, Ho-Hwan Chun, Sun-Hong Kwon , Speyer, J.L. : “Observability of error States in GPS/INS integration”, IEEE Transactions on Vehicular Technology, Volume. 54, Issue. 2, March 2005, Page(s): 731-743 [3] Spagnol, C.; Muradore, R.; Assom, M.; Beghi, A.; Frezza, R. : “Trajectory reconstruction by integration of GPS and a swarm of MEMS accelerometers: model and analysis of observability”, Proceeding of the 7th International IEEE Conference, Intelligent Transportation Systems, Oct. 2004, Page(s): 64-69 [4] Xin Ma, Salah Sukkarieh and Jong-Hyuk Kim : “Vehicle Model Aided Inertial Navigation”, IEEE Proceedings, Intelligent Transportation Systems, Volume 2, Oct. 2003, Page(s): 1004-1009 [5] Pratap Misra and Per Enge : “Global Position System : Signal, measurement, and Performance”, Ganga-Jamuna Press, 2001. [6] Jay Farrell and Matthew Barth : “The Global Position System & Inertial Navigation”, McGraw-Hill, 1999. [7] Brandt, A., Gardner, J.F. : “Constrained Navigation Algorithms for Strapdown Inertial Navigation Systems with Reduced Set of Sensors”, Proceeding of the American Control Conference, Volume 3, June 1998, Page(s): 1848-1852 [8] Robert Grover Brown and Patrick Y.C. Hwang : “Introduction to Random Signals and Applied Kalman Filtering”, John Wiley & Sons, New York,1997. [9] Billur Barshan and Hugh F. Durrant-Whyte : “Inertial Navigation Systems for Mobile Robots”, IEEE Transactions on Robotics and Automation, Volume 11, Issue 3, June 1995, Page(s): 328-342 [10] Arthur Gelb : “Applied Optimal Estimation”, The M.I.T. Press, Cambridge, Mass, 1974. [11] Van Loan, C.F. : “Computing Integrals Involving the Matrix Exponential”, IEEE Transactions on Automatic Control, Volume 23, Issue 3, Oct. 1970, Page(s): 395-404 [12] 林秉立: “長程全球定位系統與慣性導航系統整合研究”,台灣大學應用力學工程研究所碩士論文, 2004 [13] 盧冠穎:“GPS/INS 整合式之導航系統”,台灣大學電機工程研究所碩士論文, 2003 [14] 莊智清,黃國興: “電子導航”, 全華圖書, 2001 | |
dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/32945 | - |
dc.description.abstract | 在導航系統中,全球定位系統(GPS)之應用漸趨普及,但受限於其基本能力,當訊號受到遮蔽時,GPS即無法提供即時準確之導航資訊。為解決此一問題,我們將借重INS自主之特性,發展GPS/INS整合式導航系統,彌補GPS訊號中斷之空窗期。
由於INS中的慣性感測器存在一偏置值,使得INS的定位誤差愈來愈大。因此在GPS/INS整合式導航系統中,我們將在GPS訊號未中斷時估測慣性感測器的偏置值,在GPS訊號中斷時使用已校正的INS進行定位,使兩個導航系能夠校正彼此之缺點,提高使用者的定位效能。 我們利用載具在平面上運動的條件發展二維GPS/INS整合式導航系統,並在GPS中斷時,利用載具的限制條件發展其虛擬量測量以取代GPS訊號。此外,我們發現若在導航系統中加入經由量測載具輪速而得的速率的資訊,可產生更佳的虛擬量測量,提高系統的效能。經由實驗數據驗證,我們所發展之整合導航系統確可達成設計之目標。此外,我們亦設計了三維GPS/INS整合式導航系統,並將與二維的架構比較。但在現有的實驗架構下,二維GPS/INS整合式導航系統足以適用於一般陸行載具導航。 | zh_TW |
dc.description.abstract | The Global Positioning System (GPS) has become very popular in designing navigation systems. But GPS cannot provide the precise and real-time positioning information when its signal is blocked. In order to solve this problem, another independent navigation system, INS, shall be adopted and the GPS/INS integrated system should be developed to provide the positioning information during the GPS outage.
Due to the existence of bias error in using the inertial sensors, the navigation error with INS grows bigger and bigger with time. In the GPS/INS integrated system, the bias errors are estimated by using GPS signal. Once calibrated, the INS can provide positioning information during the GPS outage. Accordingly, the two navigation systems can compensate with each other, and the integration enhances the performance of the navigation system significantly. In this thesis, we shall develop the 2-D GPS/INS integrated system by using the constraint that the vehicle is moving on the plane. When GPS signal is unavailable, the notion of virtual measurement is adopted to provide some positioning information through the consideration of the constraints. It is further discovered that the information of the speed of the vehicle, which may be obtain by measuring the rotation rate of the wheel, is essential to generate good virtual measurement. The performance of the algorithm is verified by experimental result. Moreover, 3-D GPS/INS integrated navigation system is also developed and its result is compared with the 2-D GPS/INS system. It is seen that the 2-D GPS/INS system is adequate in vehicle navigation in our experiment setup. | en |
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dc.description.tableofcontents | 摘要﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ Ⅳ
Abstract﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ Ⅴ 圖目錄﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ Ⅵ 表目錄﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ Ⅹ 第一章 緒論﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒1 1-1 研究動機﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒1 1-2 論文架構﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒3 第二章 全球位行定位系統(GPS) ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒5 2-1 座標系統﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒5 2-2 全球衛星定位系統概況﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒9 2-3 全球衛星定位系統定位演算法﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒11 2-3.1 虛擬距離(psudorange) ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒11 2-3.2 都卜勒平移量(Doppler shift)﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒13 第三章 慣性導航系統(INS)及其數學模型的建立 ﹒﹒﹒﹒﹒﹒﹒15 3-1 姿態表示法﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒15 3-1.1 尤拉角(Eulerian angles)表示法﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒16 3-1.2 四元素(quaternion)表示法 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒19 3-2 慣性導航系統的架構﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒21 3-2.1 慣性導航系統簡介 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒21 3-2.2 慣性感測器簡介 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒23 3-3 載具運動的數學模型﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒27 3-3.1 載具運動的二維數學模型 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒27 3-3.2 載具運動的三維數學模型 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒35 第四章 GPS/INS整合式導航系統 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒43 4-1 卡爾曼濾波器(Kalman filter) ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒43 4-1.1 卡爾曼濾波器簡介 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒43 4-1.2 線性化卡爾曼濾波器 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒47 4-1.3 延伸型卡爾曼濾波器 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒49 4-2 GPS/INS整合式導航系統簡介 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒51 4-3 GPS/INS整合式導航系統 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒55 4-3.1 二維GPS/INS整合式導航系統﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒58 4-3.2 三維GPS/INS整合式導航系統﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒65 第五章 模擬及實驗結果﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒79 5-1 二維GPS/INS整合式導航系統模擬結果 ﹒﹒﹒﹒﹒﹒﹒80 5-2 二維GPS/INS整合式導航系統實驗結果 ﹒﹒﹒﹒﹒﹒﹒83 5-3 三維GPS/INS整合式導航系統模擬結果 ﹒﹒﹒﹒﹒﹒﹒99 5-3.1 三維導航系統模擬結果﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒101 5-3.2 二維導航系統和三維導航系統的分析比較﹒﹒﹒﹒﹒﹒﹒112 第六章 結論及未來工作 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒123 6-1 結論 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒123 6-2 未來工作 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒124 參考文獻﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒125 | |
dc.language.iso | zh-TW | |
dc.title | GPS/INS整合式導航系統研究 | zh_TW |
dc.title | GPS/INS integrated system | en |
dc.type | Thesis | |
dc.date.schoolyear | 94-2 | |
dc.description.degree | 碩士 | |
dc.contributor.coadvisor | 張帆人(Fan-Ren Zhang) | |
dc.contributor.oralexamcommittee | 宋開泰(Kai- Tai Song),林君明(Jun-Ming Lin),卓大靖(Da-Jing Zhuo) | |
dc.subject.keyword | 全球定位系統,慣性導航系統,虛擬量測量, | zh_TW |
dc.subject.keyword | GPS,INS,virtual measurement, | en |
dc.relation.page | 126 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2006-07-24 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 應用力學研究所 | zh_TW |
顯示於系所單位: | 應用力學研究所 |
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