碩士 / 逢甲大學 / 自動控制工程所 / 90 / Abstract
The combined application of global positioning system (GPS) and inertial navigation system (INS) have been adopted in navigation technology widely due to better position and velocity accuracy. INS has very accurate dynamic measurement but its error will accumulate as time goes by, on the other hand, GPS has poor position accuracy as compared with INS in short-term, but its error will not propergate through time axis. The combination of GPS and INS advantage respectly provide an ideal navigation solution.
In this paper, two Fuzzy Logic Controllers (FLC) are used to adjust the measurement residual and the process noise covariance of extended Kalman filter (EKF) and prevent the Kalman filter from divergence due to corrupted or unexpected data. The simulation results show that FLC’s fault detector mechanism has significantly reduces the position and velocity errors when the EKF of GPS/INS integrated navigation system starts to diverge.
| Identifer | oai:union.ndltd.org:TW/090FCU05146012 |
| Date | January 2002 |
| Creators | Hsii-Tzong Hsieh, 謝宗熹 |
| Contributors | none, 黃榮興 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 107 |
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