碩士 / 國立臺灣海洋大學 / 通訊與導航工程學系 / 106 / Based on the GPS/INS integrated navigation system,this paper analyze the Kalman filter principle and realizes that it is difficult to establish precise statistical characteristics of process noise and measurement noise in practical engineering applications. Traditional Kalman filter has an insurmountable divergence problem. For this reason,this paper combines the interacting multiple models algorithm and unscented Kalman filter to solve the problem of uncertainties of noise. Adjusting the modol according to the change of noise makes the system adaptive. It also introduces the fuzzy logic system to adjust upper and lower bounds of the variation of measurement noise. The simulation results show that both methods have superior estimation accuracy compared to UKF approach in the application of integrated navigation.
| Identifer | oai:union.ndltd.org:TW/106NTOU5300023 |
| Date | January 2018 |
| Creators | Chang, Shu-Ming, 張書銘 |
| Contributors | Jwo, Dah-Jing, 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 | 54 |
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