摘要
全球衛星定位系統 (Global Positioning System , GPS) 與盲導法 ( Dead-Reckoning Method) 是現代導航系統中最常使用的兩大方法。若利 用 GPS 的方法，就能將汽車的位置定位在合理的誤差範圍內，但如果是 在都市區使用 GPS，則其信號的可見度 (visibility) 容易受嚴重的影響 ，故此種定位方法所得的信號並不適合做為定位的唯一來源。另一方面， 盲導法是利用里程表、磁性羅盤與陀螺儀等感測器量測汽車的位移向量， 這些位移向量可經由逐次地累加而得到汽車的絕對座標。盲導法是一個累 加的過程，所以容易受誤差累加的現象所困擾。因此，為了在都市環境中 求得精確又可靠的汽車定位，我們將把 GPS 與盲導法整合起來，以達到 感測器互補的功能。在本論文中，我們專注於原型汽車導航系統的開發與 測試。其中導航感測元件除了 GPS 接收器 (receiver) 外，還包括磁通 羅盤、壓電式陀螺儀和里程表等盲導法感測器，這些感測器的特徵與設計 將會有詳細探討，最後呈現實驗結果來示範整合式汽車導航系統的性能。
並列摘要
Global Positioning System (GPS) and Dead-Reckoning are two major methods often used in modern in-vehicle navigation system. Using GPS, vehicle position can be located within a resonable error range. However, in urbanareas, GPS is greatly affected by the signal visibility problem and is not suitable to be used as the only positioning source. On the other hand, Dead-reckoning method uses senseors such as odometers, compasses, and gyroscopes to measure the vehicle displacement vectors. These vehicle displacement vectors are then accumulated successively to obtain the absolute coordinates. The Dead-reckoning method, being an accumulative process, suffers from the error accumulation phenomenon. As a result, integration of GPS with Dead-reckoning system is necessary in order to obtain a ccurate and reliable vehicle position in urban enviornments . In this thesis, we concentrate on the development and testing of a prototype in-vehicle navigation system. Both the GPS receiver,as well as the Dead-reckoning sensors including magnetic flux-gate compass, piezoelectric vibrating gyroscope,and odometer are used as navigation sensors. Characteristics of these sensors and their special design considerations will be discussed. Experimential results will also be presented to demontrate the performance of the GPS/Dead- reckoning integrated navigation system.
延伸閱讀
- 呂志宏（1993）。使用差分衛星全球定位系統之整合式車輛導航器〔碩士論文，元智大學〕。華藝線上圖書館。https://www.airitilibrary.com/Article/Detail?DocID=U0009-0112200611353304
- Huang, C. Y. (2007). 整合車道幾何與車流方向資訊之電腦視覺駕駛輔助系統 [master's thesis, National Taiwan University]. Airiti Library. https://doi.org/10.6342/NTU.2007.01269
- 孫義發、蔡佩容、陳澤民、李明華（2016）。多功能智慧行車輔助系統設計。電腦與通訊，()，44-51。https://www.airitilibrary.com/Article/Detail?DocID=1019391x-201610-201611080014-201611080014-44-51
- 連嘉宏、洪啟煌、陳柏政、陳聖宇、柯詠耀、李正彥（2010）。具備遠端GPS定位告知之自動汽車故障警示系統。載於遠東科技大學電機工程系（主編），智慧型系統工程應用研討會（頁845-848）。遠東科技大學電機工程系。https://doi.org/10.30176/ISC.201005.0845
- Tsai, C. H. (2011). Next Generation of GPS Navigation System [doctoral dissertation, National Central University]. Airiti Library. https://www.airitilibrary.com/Article/Detail?DocID=U0031-1903201314412072