碩士 / 國立成功大學 / 測量及空間資訊學系碩博士班 / 97 / Integrated navigation systems have become the next generation navigation technique and INS/GPS integrated system is the spotlight. Due to these two different systems are complementary, an INS/GPS integrated system has it excellent performance in positioning and orientation. The cost of a high-end INS/GPS integrated system is always been an obstruction in many applications. So in nowadays, people who works on the flied of INS/GPS integrated system are focusing on low-cost issue. In the past, a loosely-Coupled scheme is the main approach to integrate INS and GPS. It could provide excellent navigation solutions until the available GPS satellites are less than four. If GPS outages come out, the integrated system would work like a stand-alone INS, than the errors of navigation solutions will increase rapidly. However, tightly-Coupled integrated scheme solve this problem by treats GPS KF (Kalman filter) as a part of INS/GPS KF and GPS raw measurements (pseudo-range and Doppler) become the measurements in KF update procedure. That makes an integrated system can still benefit from GPS measurements only the available satellites are more than one. Therefore, an INS/GPS tightly-Coupled integrated system with 17-state is developed in this study. A MEMS grade IMU and GPS L1 single-frequency receiver was used in the flied test which includes three different scenarios. The results and related analyses of the flied test are shown in this thesis. In addition, , an INS/GNSS integrated simulator was implemented to verify the applicability of INS mechanization and KF used in this study.
| Identifer | oai:union.ndltd.org:TW/097NCKU5367014 |
| Date | January 2009 |
| Creators | Chih-Yu Hu, 胡智祐 |
| Contributors | Kai-Wei Chiang, 江凱偉 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 106 |
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