碩士 / 國立交通大學 / 電機與控制工程系所 / 92 / In this thesis, a GPS/INS navigation system integrated by Kalman Filter is proposed. Furthermore, a map-matching algorithm that eliminates the error of GPS/INS and finds the correct road and position on the map is also applied to this real-time vehicle navigation system. One accelerometer and one gyro are integrated in the system to obtain 2-D displacement, velocity, and heading direction. Two microprocessors are designed to capture both the signals of GPS receiver and IMU set, and then transmit data to the main processor. After that, the optimal navigation information of GPS/INS is estimated in the main processor by the Kalman filter. In addition, a modified map-matching algorithm is adopted to adjust the heading direction of vehicle. Finally, the optimal navigation information would be shown in a graphical user interface. The experiment results would demonstrate the effectiveness and applicability of the proposed methods as the vehicle runs in the urban area, underground passage, and wooded area.
| Identifer | oai:union.ndltd.org:TW/092NCTU5591005 |
| Date | January 2004 |
| Creators | Shih-Hung Yang, 楊世宏 |
| Contributors | Yon-Ping Chen, 陳永平 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | en_US |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 71 |
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