碩士 / 國立臺灣海洋大學 / 通訊與導航工程學系 / 99 / This paper proposes a comprehensive approach to improve the accuracy of the Doppler estimates with the 4th order Autoregressive (AR) modelling of the inertial sensor random errors, which is studied for ultra-tight GPS/INS integration navigation .
The ultra-tight integration is also known as deep integration, and using the structure of ultra-tight in the receiver has many advantages, such as disturbance rejection and multi-path rejection, promoting high dynamic performance, tracking weak signals, improving the accuracy, urban or indoor positioning capability, shorten acquisition time, improved phase locked loop bandwidth, achieve a more accurate Doppler frequency shift and measurement of phase, etc.
Nevertheless, the tracking performance was still a concern in complex environments such as dynamic scenarios, indoor environments, urban areas, under foliages etc., where the GPS tracking loops lose lock due to the signals being weak, subjected to excessive dynamics or completely blocked.
INS has two types of error sources: deterministic and stochastic. The navigation parameters, position, velocity and attitude are usually modelled as deterministic errors, whereas the residual biases from the sensors are modelled as stochastic errors.
In this paper , the popular stochastic techniques–AR was investigated to model the Doppler signal , and calculate the Doppler frequency shift, which can be feedback to GPS tracking loops. The motivation of this research , was to eliminate the effect of stochastic error by Doppler with an integrated GPS/INS system using ultra-tight integration architecture.
Identifer | oai:union.ndltd.org:TW/099NTOU5300031 |
Date | January 2011 |
Creators | Yu-Chi, Wang, 王鈺騏 |
Contributors | Dah-Jing, Jwo, 卓大靖 |
Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
Language | zh-TW |
Detected Language | English |
Type | 學位論文 ; thesis |
Format | 108 |
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