碩士 / 國立成功大學 / 電機工程學系 / 104 / Nowadays, Global Positioning System (GPS) which has been developed completely are widely used in various fields, such as vehicle, military, navigation, airplane and spacecraft. Applications of GPS are everywhere in our life, and we rely on GPS for route guidance. However, in urban environment, GPS signals are sometimes blocked by buildings, tunnels, or affected by multipath effect.
To deal with this problem, we can employ the inertial navigation system (INS). This system have advantages such as high updating rate, not easily affected by external interference, and high accuracy in short time. We usually use an extended Kalman filter (EKF) to integrate GPS and INS. According to the information of motion measured from INS and GPS, we can estimate the velocity, position, and attitude of the vehicle.
BeiDou satellites system (BDS) is developed by China. This system is composed of 35 satellites, including 5 geostationary orbit satellites, 27 in medium Earth orbit, and 3 in inclined geosynchronous orbit. We want to combine BDS into our system with GPS and INS, helping us to achieve higher accuracy.
The GPS/INS integration system has many advantages, such as accurate attitude, high sampling rate, continuously signals, and accuracy along time and so on. By combining others satellite systems can not only observe more satellites, but also get better geographic distribution of satellites in the sky. The thesis discussed the integrations of Beidou, GPS, and INS to seek performance enhancement.
Keyword: Kalman filter; tightly coupled; inertial navigation; satellite navigation.
| Identifer | oai:union.ndltd.org:TW/104NCKU5442126 |
| Date | January 2016 |
| Creators | Hsien-LiYang, 楊先立 |
| Contributors | Jyh-Ching Juang, 莊智清 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | en_US |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 70 |
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