碩士 / 國立臺灣科技大學 / 機械工程研究所 / 84 / GPS與INS為現今導航定位之兩大主流，各有其優缺點，而將之整合運用更
是必然的趨勢，因此我們就以實驗船為載具，針對GPS與INS整合後之結果
作定位研究。本論文主要分為理論與硬體兩大部份：理論部份，我們建立
了一個11階之綜合增廣式卡門濾波器，藉著角速度、角度、加速度、位置
等的彼此相關，抑制了彼此雜訊之增長與飄移的發生，獲得了不錯的整合
效果；另一方面，對於感測器之誤差模式的建立，我們利用了整型濾波器
，再採用模型鑑定的方式，以最小平方法來求取整型濾波器的係數值，捨
棄了一般直接帶誤差模式公式的作法；此外，對於GPS訊號會因某些因素
而不可用之情形與感測器之量測雜訊的共分散值因外界環境的變化而產生
不可預知之變化，我們都做了詳細的探討與模擬分析。硬體部分：我們以
微處理機為中央處理單元，將各種感測器，包括有電子羅盤、陀螺儀、
GPS等介面起來，形成一個定位裝置，另外，我們也製作了調變解調器來
作為資料傳輸的轉換裝置。未來我們的研究目標是要將真實環境之各種擾
動加入整合濾波器內，使其更符合實際狀況，再把整合過之訊號傳回載具
上，利用伺服控制器來控制載具之方向，達到導航定位的目的。
GPS and INS are two major navigation methods for modern
navigation systems.By integrating GPS and INS,performance and
reliability of navigation system can be greatly improved.In
this thesis,we study the design and development of the GPS/INS
inte- grated navigation system for a remote controlled
experimental boat. This thesis can be divided into two major
parts.In the theo- retical part,we designed a 11-state kalman
filter to integrate the GPS,accelerometer,and gyroscope sensors
output.By using the relationships between the linear and
angular positions,speeds, and accelerations,sensor noises and
drifts are effectively removed.In addition,RLS method is used
to identify sensor error models,and shaping filter is used in
the kalman filter to model ese sensor errors.The filter
performance under realistic hazardous situations,such as GPS
blockage or sensor noise change due to enviromental effects are
also studied.In the hardware implementation part of the thesis,
we discussed charcteristics and interface designs for various
sensors and designed a RF modem for wireless data
communication. Our future research direction would be to
implement the filter designed in realtime to handle actual
sensor disturbances,and to accomplish realtime navigation
control of the vehicle by incorporating the servo system of the
experimental vehicle.
| Identifer | oai:union.ndltd.org:TW/084NTUST489043 |
| Date | January 1996 |
| Creators | Kuo Kaan Cherng, 郭侃誠 |
| Contributors | Kao Wei Wen, 高維文 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 156 |
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