Title

發展低成本緊耦合式INS/GPS整合無縫車用導航系統之研究

Translated Titles

The Utilization of a low cost Tightly Coupled INS/GPS Integrated System for Seamless Land Vehicle Navigation

Authors

胡智祐

Key Words

車用導航 ; 緊耦合 ; 慣性導航系統 ; INS ; Land vehicle navigation ; INS/GPS ; Tightlyt coupled

PublicationName

成功大學測量及空間資訊學系學位論文

Volume or Term/Year and Month of Publication

2009年

Academic Degree Category

碩士

Advisor

江凱偉

Content Language

繁體中文

Chinese Abstract

整合式的導航定位技術已儼然成為下一代導航系統的主要方向,其中又以慣性導航系統(Inertial Navigation System, INS)與全球定位系統(Global Positioning System, GPS)的整合最為引人注目。由於INS與GPS的互補特性,使得INS/GPS整合系統具有優異的定位定向表現。但由於高精度的整合系統硬體成本過於昂貴,使得INS/GPS整合技術局限在特定的應用領域,因此以低成本的感測器發展出合理精度的整合系統,將可大幅提升INS/GPS整合系統的應用空間。而在過去INS/GPS的整合架構通常以鬆耦合(Loosely Coupled)架構為主,當GPS衛星訊號良好時,其可提供優異的導航訊息,一旦可接收的衛星訊號少於四顆,該系統將不能提供GPS觀測量更新,導致INS獨自運作。然而,緊耦合架構(Tightly Coupled)卻以觀測量層面整合的概念解決了此一限制,在緊耦合架構下,只要使用者的可視衛星數大於一顆,即可從GPS中獲得觀測量更新,如此便能大幅提升了整合系統的可靠度。於是於本研究中,實踐了一個具有17個狀態參數的INS/GPS緊耦合卡曼濾波器,並使用微機電系統(Micro Electro Mechanical Systems,MEMS)等級的慣性量測元件(Inertial Measurement Unit, IMU)及GPS L1單頻接收儀作為實驗儀器,然後在三種不同的街道環境進行測試與成果分析。另外本研究亦開發了一套INS/GNSS整合系統模擬器,利用其產生的模擬觀測量對整合演算法有進行理論上的偵錯與評估。

English Abstract

Integrated navigation systems have become the next generation navigation technique and INS/GPS integrated system is the spotlight. Due to these two different systems are complementary, an INS/GPS integrated system has it excellent performance in positioning and orientation. The cost of a high-end INS/GPS integrated system is always been an obstruction in many applications. So in nowadays, people who works on the flied of INS/GPS integrated system are focusing on low-cost issue. In the past, a loosely-Coupled scheme is the main approach to integrate INS and GPS. It could provide excellent navigation solutions until the available GPS satellites are less than four. If GPS outages come out, the integrated system would work like a stand-alone INS, than the errors of navigation solutions will increase rapidly. However, tightly-Coupled integrated scheme solve this problem by treats GPS KF (Kalman filter) as a part of INS/GPS KF and GPS raw measurements (pseudo-range and Doppler) become the measurements in KF update procedure. That makes an integrated system can still benefit from GPS measurements only the available satellites are more than one. Therefore, an INS/GPS tightly-Coupled integrated system with 17-state is developed in this study. A MEMS grade IMU and GPS L1 single-frequency receiver was used in the flied test which includes three different scenarios. The results and related analyses of the flied test are shown in this thesis. In addition, , an INS/GNSS integrated simulator was implemented to verify the applicability of INS mechanization and KF used in this study.

Topic Category 工學院 > 測量及空間資訊學系
工程學 > 工程學總論
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Times Cited
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  9. 陳宣翰(2013)。戰術等級尋北系統的開發研究。成功大學測量及空間資訊學系學位論文。2013。1-74。
  10. 黃昱倫(2016)。利用低成本GNSS/IMU浮標監測海洋訊號。成功大學測量及空間資訊學系學位論文。2016。1-152。
  11. 林舒葦(2017)。以光束法平差提升地面移動測繪系統精度之研究。成功大學測量及空間資訊學系學位論文。2017。1-65。