整合全球定位系統與慣性導航系統的初始校準設計與實現

Design and Implementation of GPS/INS Integrated System Initial Alignment

李正凱(Cheng-Kai Lee)

指導教授 ： 馬德明

淡江大學/工學院/航空太空工程學系碩士班/碩士(2006年)

https://doi.org/10.6846/TKU.2006.00224

摘要

本文將探討INS/GPS 整合導航系統中，初始化的校正以及位置、速 度、姿態校正的方法，首先介紹基礎之導航觀念，接著探討慣性導航系統 的運算以及誤差分析；兩系統整合的基本架構是以慣性導航系統提供載具 的動態，全球定位系統提供量測的資料。在了解校正方法的過程中首要了 解系統中各個狀態的角色，並且應用卡爾曼濾波器整合量測資料以修正系 統狀態。本論文以實際應用慣性量測設備並搭配GPS 建立整合導航系統 為目地，對整合過程中所遇到卡曼濾波器的發散問題加以探討。實體化的 部分是使用物件導向的觀念建立地面站系統，單板電腦為運算核心，並且 應用Linux 實際建立一套多工即時處理的系統核心，以整合在現有的無人 飛機中，實現一個高精度的整合式導航系統。 本論文附上所有原始碼包含以Matlab 撰寫的模擬程式、原始實驗數據 與機載電腦程式以及通訊協定規格檔案。

關鍵字

慣性導航系統 ； 全球定位系統 ； 卡爾曼濾波器 ； 機載電腦 ； 嵌入式系統

並列摘要

The thesis is dealing with the problem of initial alignment of INS/GPS
integrated system; and in flight calibration of position, speed, and attitude. The
basic structure of the integrated system is treating the navigation data from
inertial navigation system as the system dynamics while those from the global
positioning system as the measurement and using the kalman filter to correlate
the data. The question of divergence of implementing kalman filters is
discussed. An embedded system, based on the Linux kernel, which
implementing the integrated system is realized and targeting into a
single-board computer as the on-board computer of an UAV. A ground station,
utilizing the object-oriented programming, is also developed to monitor the
status of the UAV.
The accompanied CD-ROM contains the computer codes of Matlab
m-files and OBC program, test data from ground tests, and communication
protocols.

並列關鍵字

OBC ； Initial Alignment ； INS/GPS ； Embedded Linux ； Kalman filter

參考文獻

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