碩士 / 中華大學 / 機械與航太工程研究所 / 87 / Abstract
The technology of the communication and the network information are developed fast, such that GPS is the mainstream of the application of the navigation system in the present day. Because the positioning accuracy of GPS is with long-term stability, thus the divergent effect of INS would be improved. On the other hand the characteristics of INS can supply the information of vehicle maneuvering effects, or in the duration for the lost track conditions due to antenna shielding. Therefore, both of GPS and INS are complement with each other that we can build an integrated navigation structure for three-dimensional navigation.
In this research we study the hardware structure by integrating GPS with INS. There are two Kalman filters respectively, for INS and GPS, thus it is easy to implemented. The system is a loosely-coupled closed-loop structure based on INS with GPS aided, the state variables are the errors of position, velocities, attitude angles, angular velocities, biases and scale factors; The state variables of GPS Kalman filter, are positions, velocities, user clock and drift rate. In this structure, the outputs of GPS are taken as the measurement data of INS Kalman filter. Therefore, the order of closed-loop system is lower and easier for implementation.
In the mean time, we have a six-leg electric-hydraulic steward platform and real-time monitor system that can analyze and validate the body attitude obtained by INS. The results of the investigation show that the integrated system performance is well.
| Identifer | oai:union.ndltd.org:TW/087CHPI0598024 |
| Date | January 1999 |
| Creators | Sou-Yung , Hsieh, 謝壽鏞 |
| Contributors | Jium-Ming Lin, 林君明 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 96 |
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