長程全球定位系統與慣性導航系統整合研究

Long-Range Navigation Using Integrated GPS/INS System

林秉立(Ping-Li Lin)

指導教授 ： 王立昇

共同指導教授 ： 張帆人(Fan-Rang Chang)

國立臺灣大學/工學院/應用力學研究所/碩士(2004年)

https://doi.org/10.6342/NTU.2004.00966

摘要

長程導航系統被廣泛應用於各式載具之上。唯，針對諸如飛彈、戰鬥機等航空載具，考慮其面臨高動態環境之可能，長程導航系統於設計上，被要求能更有效處理姿態相關問題。過往之研究顯示，全球定位系統與慣性導航系統已可成札膃X，並用以解決慣性導航系統於長程定位使用上之瓶頸，然而，其相關之姿態處理能力卻未臻成熟。本文致力於發展有效之整合模型，求能改善既存模型之缺陷與不足。現有模型於一般性之使用上，其弊端不易察覺，但倘若安置於劇烈動態環境中，則其侷限性驟然顯現。為此，本文引入姿態判定量測及四元數表示法於整合模型中，依其獨特約束性質，藉由拘束濾波法與擴增卡曼濾波器之混合使用，試圖解決長程導航系統上現存之盲點。最後，透過模擬過程，比較標準模型與本文建議模型之效能，證明本文提及之方法於姿態處理問題上，確能有較佳表現。

關鍵字

姿態 ； 全球定位系統 ； 慣性導航系統

並列摘要

The long-range navigation system has been widely applied to various vehicles. As for the flight vehicles such as fighter or missile, which are usually in drastical motion, the long-range navigation system is further required to be more capable in dealing with the attitude problems. It was shown before that the Global Positioning System and the Inertial Navigation System can be integrated successfully. However, the capability of dealing with the attitude problem is not fully developed in such integration system yet. The inability of the existing integration model in dealing with attitude problems is not apparent in low dynamic environment, but may appear significantly for drastically dynamic motion. To overcome the above-mentioned obstacle, this work tries to construct a new model which differs from the existing ones. The proposed model uses the attitude measurement and the unit quaternion, which is subject to the unit-length constraint. By using both the Constraint Filtering Method and the Extended Kalman Filtering Method in the proposed model, it is desired to enhance the capability of the filtering method to deal with attitude problems. The simulation results and the comparison between the proposed method and the classical one show that the developed scheme suits our need and is more reliable for long-range navigation of a violently moving vehicle.

並列關鍵字

Attitude ； INS ； GPS

參考文獻

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