碩士 / 國立虎尾科技大學 / 自動化工程系碩士班 / 104 / The Global Positioning System(GPS) is now commonly used for vehicle’s navigation, but GPS signal would possibly be affected by environment such as mountains, trees, high buildings or even tunnel. When GPS signal lost, there is a need that autonomous vehicle have to has a backup system for navigation. This research is aiming to create a Inertial Navigation System(INS) combine with Kalman Filter for navigation on unmanned vehicle’s autopilot system.
Sensors of INS include accelerometer and e-compass. Regarding basic Newton’s law of motion, vehicle’s speed and displacement (position) can be obtained by the integral of acceleration. Heading angle measured from e-compass indicates where the vehicle moving toward. The combination of displacement and heading gives the very basic information to fill the vacancy of GPS signal lost.
Based on previous INS positioning principle, in the end of this research, a computer code was written into the Ardupilot controller to validate the effectiveness of INS positioning during the period of GPS signal lost. Tests shows our INS method can successfully take the place of GPS positioning up to 60 seconds as a result.
| Identifer | oai:union.ndltd.org:TW/104NYPI5146001 |
| Date | January 2015 |
| Creators | Wei-Len Chan, 陳威仁 |
| Contributors | 李孟澤 |
| Source Sets | National Digital Library of Theses and Dissertations in Taiwan |
| Language | zh-TW |
| Detected Language | English |
| Type | 學位論文 ; thesis |
| Format | 55 |
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