GPS/INS整合導航控制與實驗

Abstract

全球定位系統(GPS) 現已成為最重要的導航輔助系統，但是有時因周遭環境受到遮蔽，而無法提供即時準確之導航資訊。我們使用INS來解決GPS訊號中斷的問題，發展出GPS/INS整合式導航系統。 由於INS中的慣性感測器存在一偏置值，INS定位誤差會隨著時間而放大。因此在GPS/INS整合式導航系統中，我們利用GPS訊號來校正INS的誤差量，並在GPS訊號中斷時使用已校正的INS進行定位，使兩個導航系能夠相輔相成，提高使用者的定位效能。 此外，本論文並把此方法應用在戶外自動導航載具系統，在事先給定路徑後，可達到路徑追蹤的效果。透過GPS/INS整合式導航系統得到位置及姿態，並且與預先規劃的參考路徑作比較，得到運動補償器的輸入參數。再透過運動補償器得到載體速度與角度的補償量，經由無線網路傳送到控制卡，來調整載具的速度與角度，來達成路徑追蹤的任務。經由實驗證實，本系統所發展的方法確實可行。

The Global Positioning System (GPS) plays an important role in navigation system. But GPS cannot provide the precise and real-time positioning information when its signal is blocked. To deal with this problem, we integrate the inertial navigation system (INS) with GPS. The GPS/INS integrated system can provide the positioning information, even when the GPS positioning is failed. The errors of INS would increase with time by the integration procedure. In the GPS/INS integrated system, the drifts of INS are corrected by GPS signal. Even though the GPS is outage, the INS can still provide positioning information. Owing to the complementary characteristics of the two navigation systems, GPS and INS, the integrated system can enhance the performance significantly. The main purpose of this thesis is that using the GPS/INS integrated system to develop a precise positioning automatic vehicle system. And it can track the path planned in advance precisely. The position and attitude can be obtained from the GPS/INS integrated system. After comparing these measurements with the reference points planned in advance, we can get the arguments for the fuzzy compensator. The compensations of velocity and angular velocity of the vehicle are derived by using fuzzy compensator. These compensations are transmitted from the main station to the vehicle by using wireless connection and then the vehicle can finish the path tracking. The experimental results showed that the proposed design is feasible.