Yip, Wai Lee. / Thesis (M.Phil.)--Chinese University of Hong Kong, 2008. / Includes bibliographical references (leaves 119-124). / Abstracts in English and Chinese. / Abstract --- p.i / 摘要 --- p.ii / Acknowledgement --- p.iii / Table of Content --- p.iv / List of Figure --- p.vi / List of table --- p.viii / Chapter Chapter 1 --- Introduction --- p.1 / Chapter 1.1 --- Motivation --- p.1 / Chapter 1.2 --- Background information --- p.2 / Chapter 1.2.1 --- Overview of positioning technologies --- p.2 / Chapter 1.2.2 --- Comparison between different positioning systems --- p.7 / Chapter 1.2.3 --- Recent works related to INS --- p.9 / Chapter 1.3 --- Objective --- p.11 / Chapter 1.4 --- Organization of thesis --- p.11 / Chapter Chapter 2 --- Literature Study --- p.13 / Chapter 2.1 --- Introduction to INS --- p.13 / Chapter 2.1.1 --- Coordinate Frames --- p.13 / Chapter 2.1.2 --- Gimbaled INS --- p.16 / Chapter 2.1.3 --- Strapdown INS --- p.17 / Chapter 2.1.4 --- Conventional algorithm of strapdown INS --- p.17 / Chapter 2.2 --- Inertial sensors --- p.19 / Chapter 2.2.1 --- Gyroscope --- p.19 / Chapter 2.2.2 --- Accelerometer --- p.20 / Chapter 2.3 --- Previous works --- p.22 / Chapter 2.4 --- GF-INS --- p.23 / Chapter 2.5 --- Summary --- p.25 / Chapter Chapter 3 --- Performance of MEMS accelerometer in position determination --- p.27 / Chapter 3.1 --- Basic principle --- p.27 / Chapter 3.2 --- Numeric integration --- p.28 / Chapter 3.3 --- Experimental setup --- p.30 / Chapter 3.3.1 --- MEMS Accelerometer --- p.30 / Chapter 3.3.2 --- Microcontroller --- p.32 / Chapter 3.3.3 --- System architecture --- p.33 / Chapter 3.3.4 --- Testing platform --- p.34 / Chapter 3.4 --- Initial calibration and filtering --- p.37 / Chapter 3.4.1 --- Convert ADC reading to acceleration --- p.37 / Chapter 3.4.2 --- Identify configuration error --- p.38 / Chapter 3.4.3 --- Implement low pass filter --- p.39 / Chapter 3.5 --- Experimental results --- p.40 / Chapter 3.5.1 --- Results --- p.40 / Chapter 3.5.2 --- Discussion --- p.43 / Chapter 3.6 --- Summary --- p.45 / Chapter Chapter 4 --- Performance Improvement --- p.46 / Chapter 4.1 --- Fuzzy logic based steady state detector --- p.46 / Chapter 4.1.1 --- Principle --- p.46 / Chapter 4.1.2 --- Experimental result --- p.48 / Chapter 4.2 --- Kalman filtering --- p.50 / Chapter 4.2.1 --- Discrete Kalman filter --- p.50 / Chapter 4.2.2 --- Combine with fuzzy logic based steady state detector --- p.52 / Chapter 4.2.3 --- Experimental results --- p.54 / Chapter 4.3 --- Summary --- p.58 / Chapter Chapter 5 --- Construction of GF-INS --- p.59 / Chapter 5.1 --- Principle of GF-INS --- p.59 / Chapter 5.1.1 --- Algorithm --- p.59 / Chapter 5.1.2 --- Comparing error of GF-INS and conventional INS --- p.66 / Chapter 5.1.3 --- Simulation study --- p.67 / Chapter 5.2 --- Experimental setup --- p.73 / Chapter 5.3 --- Experimental Results --- p.75 / Chapter 5.4 --- Summary --- p.81 / Chapter Chapter 6 --- Improvement on the GF-INS --- p.82 / Chapter 6.1 --- Configuration error compensation --- p.82 / Chapter 6.1.1 --- "Identify bias, scale factor and sensing direction error" --- p.83 / Chapter 6.1.2 --- Identify position error --- p.86 / Chapter 6.1.3 --- Compensator design --- p.89 / Chapter 6.1.4 --- Simulation --- p.91 / Chapter 6.2 --- Fuzzy rule based motion state detector --- p.97 / Chapter 6.2.1 --- Relation of data in different motions --- p.97 / Chapter 6.2.2 --- Fuzzy system --- p.99 / Chapter 6.2.3 --- Membership function training with gradient descent --- p.101 / Chapter 6.3 --- Experimental results and discussion --- p.104 / Chapter 6.3.1 --- Configuration errors --- p.104 / Chapter 6.3.2 --- Compensator --- p.106 / Chapter 6.3.3 --- Fuzzy rule based motion state detector --- p.107 / Chapter 6.3.4 --- Comparing the performance of both methods --- p.110 / Chapter 6.3.5 --- Comparing GF-INS and one dimensional INS --- p.112 / Chapter 6.3.6 --- Discussion --- p.113 / Chapter 6.4 --- Summary --- p.115 / Chapter Chapter 7 --- Conclusions and Future works --- p.116 / Reference --- p.119
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_326321 |
| Date | January 2008 |
| Contributors | Yip, Wai Lee., Chinese University of Hong Kong Graduate School. Division of Mechanical and Automation Engineering. |
| Source Sets | The Chinese University of Hong Kong |
| Language | English, Chinese |
| Detected Language | English |
| Type | Text, bibliography |
| Format | print, viii, 124 leaves : ill. ; 30 cm. |
| Rights | Use of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/) |
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