請用此 Handle URI 來引用此文件:
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/57811
標題: | 應用自適應動態轉換模式於移動載台之定位誤差改正 Utilizing Adaptive Time-Variant Transformation Model for Mobile Platform Positioning Error Adjustment |
作者: | Chien-Tai Lo 羅建台 |
指導教授: | 韓仁毓 |
關鍵字: | 移動測繪系統,慣性導航系統,絕對定位誤差,動態正形轉換模型,自適應模型分析, Mobile mapping system (MMS),Direct georeferencing,Time-variant transformation model,Adaptive model analysis,Global navigation satellite system (GNSS),Inertial navigation system (INS), |
出版年 : | 2014 |
學位: | 碩士 |
摘要: | 移動測繪系統藉由全球衛星定位以及慣性導航技術之整合,實現直接地理定位之效能,該系統能夠針對大範圍目標物進行快速測量,並減少內業處理程序,為各領域廣泛應用。然而以地面移動載台測繪系統而言,施測路徑周遭建物或地勢起伏都可能造成衛星訊號遮蔽,此時仰賴慣性導航單獨進行航位推算將導致顯著的累積性誤差。本研究首先利用動態正形轉換模型描述移動載台定位誤差之行為,透過路徑上的控制資訊進行轉換模型之參數估計,藉此改正移動載台之定位誤差,此外引入偵錯技巧與自適應分段改正程序,提升誤差改正之效能。數值實驗成果顯示,車載測繪系統在都會地區受到衛星訊號遮蔽影響,其絕對定位誤差可達數公尺之譜,透過本研究之動態改正技術,能有效降低誤差量級至公分等級,顯著提升測繪成果之品質,進而突破移動測繪系統於衛星定位訊號不良環境之應用侷限。 A mobile mapping system (MMS) utilizes the global navigation satellite system (GNSS) and inertial navigation system (INS) techniques and thus makes possible a direct georeferencing solution everywhere along its surveyed path. It is capable of acquiring a vast number of spatial information in an efficient manner and is adopted in a wide variety of applications. Nevertheless, when the GNSS signal is obstructed, its positioning solution can only count on the INS observables, which possesses significant and cumulative errors across time. In order to compensate for the position error in a GNSS-denied area, a time-variant adjustment model is developed in this study. Moreover, an adaptive algorithm is proposed to improve the efficiency and reliability of the error adjustment analysis. Based on the results from a case study, it is demonstrated that the positioning error of a mobile mapping platform in an urban area could reach a level of several meters due to GNSS signal obstructions. However, when the proposed approach is applied, the error can be significantly reduced to a centimeter-level. As a result, the applicability of the mobile mapping technique can be further extended to a GNSS-hostile area where current methods are limited. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/57811 |
全文授權: | 有償授權 |
顯示於系所單位: | 土木工程學系 |
文件中的檔案:
檔案 | 大小 | 格式 | |
---|---|---|---|
ntu-103-1.pdf 目前未授權公開取用 | 3.15 MB | Adobe PDF |
系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。