碩士 / 國立臺灣海洋大學 / 通訊與導航工程學系 / 100 / Tracking dynamics on the GPS signal is still a big challenge to the receiver designer as the operating conditions are becoming more volatile. Optimizing the stand-alone system for high dynamics generally degrades the accuracy of measurement. Therefore, the GPS is aided with inertial navigation system (INS) to address this issue.
Several researchers proposed an Unscented Kalman Filter design approach for the ultra-tight GPS/INS integration. Based on this structure, INS error models are discussed. Through analyzing the relationship between GPS (I&;Q) measurement and INS (position and velocity) states I/Q estimate method is proposed.
Traditionally, the signals from each satellite are processed independently. The ultra-tight GPS/INS integration system uses a bank of pre-filters to estimate code delay error and Doppler frequency error for each satellite. This vector-based method can perform better than traditional methods. However, the changes of Doppler frequency are violent in the high dynamic situation. For improving the performance of pre-filter, this paper employed the Fuzzy Logic Adaptive UKF. Based on the proposed structure, the parameters of UKF will be tuned more smartly. Accordingly, the effect of high dynamic can be reduced.
| Identifer | oai:union.ndltd.org:TW/100NTOU5300030 |
| Date | January 2012 |
| Creators | Chi-Fan Yang, 楊棋帆 |
| 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 | 72 |
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