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題 名 | 應用分散式卡耳曼濾波於INS/KGPS動態定位之研究=The use of Decentralized Kalman Filtering in INS/KGPS Kinematic Positioning |
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作 者 | 楊名; 林世賢; | 書刊名 | 測量工程 |
卷 期 | 40:4 1998.12[民87.12] |
頁 次 | 頁17-38 |
分類號 | 440.981 |
關鍵詞 | 卡耳曼濾波; 動態GPS; 慣性導航系統; Kalman filter; Kinematic GPS; Inertail navigation system; INS; |
語 文 | 中文(Chinese) |
中文摘要 | 本文利用分散式卡耳曼濾波架構的方法來結合慣性導航系統(Inertial Navigation System. INS)與全球定位系統(Global Positioning System, GPS)觀測資料,並使用一個僅有15 個狀態參數的誤差模式表示INS之系統誤差。動態GPS(Kinematic GPS, KGPS)定位係以寬 巷法求解,並經由卡耳曼濾波計算INS誤差狀態參數。 本文使用美國Ohio州立大學製圖中心(The Ohio State University Center for Mapping)之定 翼飛機所收集之INS/GPS原始數據作為驗證資料。由KGPS動態位置每秒更新一次的結果 顯示,INS/KGPS系統預估位置與KGPS動態位置之差異大部分保持在10公分以內。於刻 意中斷GPS觀測量之實驗中,在飛機速度為每秒飛行80公尺之情況下,20秒內INS單獨 積分之位置解僅與KGPS動態位置解相差10公分,對高動態的載具而言,這樣的系統精度 已可用來彌補GPS資料密度的不足以及跨越GPS無法進行精確定位之時間段落,驗證本研 究使用之簡易INS誤差模式已有效地抑制INS誤差累積,提供完整精確的導航訊息。 |
英文摘要 | This study applies a decentralized Kalman filter to integrate Inertial Navigation System (INS) and Global Positioning System (GPS) measurements. An error state model of 15 error states (3 position errors, 3 velocity errors, 3 attitude errors, 3 accelerometer biases, 3 gyro drifts) was used to model the errors of the INS. The position solution of Kinematic GPS (KGPS) is obtained using the widelaning method, and a Kalman filter was then applied to estimate the INS error states. An experiment was conducted using INS/GPS data collected on an airplane, provided by the Center for Mapping of the Ohio State University, USA. GPS kinematic position is obtained every second. Test results show that for a highly dynamic aircraft flying at approximately 80 m/s, the difference between the INS/KGPS predicted position and the KGPS solution is normally within 10 cm. Moreover, during the two intentionally created GPS data gaps, the difference between the INS prediction and the KGPS solution only reaches 10 cm within 20 seconds, manifesting the fact that the design of the error model can effectively reduce INS error accumulation, and provide accurate navigation information. |
本系統中英文摘要資訊取自各篇刊載內容。