Investigation of the Doppler Velocity Aiding for Ultra-Tight GPS/INS Navigation Systems / 超緊密GPS/INS整合導航系統 都卜勒速度輔助之設計

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.

Identiferoai:union.ndltd.org:TW/099NTOU5300031
Date January 2011
CreatorsYu-Chi, Wang, 王鈺騏
ContributorsDah-Jing, Jwo, 卓大靖
Source SetsNational Digital Library of Theses and Dissertations in Taiwan
Languagezh-TW
Detected LanguageEnglish
Type學位論文 ; thesis
Format108

Page generated in 0.002 seconds