碩士 / 國立臺灣海洋大學 / 通訊與導航工程學系 / 99 / The paper present the application of fuzzy unscented particle filter(fuzzy UPF) to GPS/INS tight integration and ultra-tight integration design of the navigation system.
Ultra-tight is also known as deep integration, it can make receiver
have better wide of tracking bandwidth and suppression noise, promote GPS receiver performance, when the GPS is no signal, INS in the receiver's acquisition and re-acquisition process, you can still use the position, velocity on the code loop and carrier loop initialization and parameter external estimation assisted, thus promote receiver tracking loop performance. The Doppler compensation has more errors in high dynamic, I use the velocity aiding to reduce error and promote the accuracy.
The particles filter (PF) exhibits superior performance as compared to EKF and UKF instate estimation for the nonlinear, non-Gaussian system. Nevertheless, the degeneracy of particles and accumulation of estimation errors in the PF are difficult to overcome. To handle the problem of heavy-tailed probability distribution, one of the strategies is to incorporate the UKF into the PF as the proposal distribution, leading to the unscented particle filter (UPF). This paper presents a sensor fusion method based on the combination of adaptive unscented particle filter (UPF) and Fuzzy Logic Adaptive System (FLAS) for ultra-tightly coupled GPS/INS integrated navigation.
Performance assessment for EKF、UKF、UPF and Fuzzy UPF carried out. The Fuzzy UPF algorithm demonstrates remarkable improvement in navigation estimation accuracy and to reduce the number of particles as compared to the conventional approaches.
| Identifer | oai:union.ndltd.org:TW/099NTOU5300034 |
| Date | January 2011 |
| Creators | Kun-Chieh Lin, 林琨傑 |
| 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 | 122 |
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