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題 名 | 非線性GPS/INS自動導航操控系統之研究與設計=Non-linear GPS/INS Navigation for Autonomous Mobile Vehicles |
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作 者 | 金之業; | 書刊名 | 修平學報 |
卷 期 | 8 2004.03[民93.03] |
頁 次 | 頁305-315 |
分類號 | 447.85 |
關鍵詞 | 非線性控制器; 無人駕駛載具; 全球衛星定位/慣性導航系統; 赫密特內插法; Non-linesr; GPS/INS navigation for autonomous mobile vehicles; |
語 文 | 中文(Chinese) |
中文摘要 | 現今無人駕駛載具多結合全球衛星定位及慣性導航系統,假其特有的精確性及可靠度不僅提昇經濟效益,更適合機密性高的軍事任務或危險性高的災區救援、地域探勘等行動。謹此,本研究將著重於發展“非線性GPS/INS自動導航之操控系統”,藉由數值內插法則來平滑片段不連續傳輸訊號的線上處理及調整控制參數。另一方面,濾波器的設計亦著重時基關聯彩色雜訊的消除,且輔以非同步之量測與評估週期以修調GPS與INS間差異。 GPS/INS控制器結構方面,含誤差模型含線性及非線性兩部份;非線性乃系統態變函數之轉換二階(2nd order)誤差,擬利用高斯雜訊特性(Guassian Noise)來補償加速規與陀螺儀之關聯誤差。至於導航系統等時距內所預劃的連續性運動(角變量、加速度等)軌跡,則藉內插法(Runge-Kutta method or Hermite interpolation)來克服非同步量測及點與點間操控平衡之協調問題。 利用電腦模擬與實務測量來驗證非線性GPS/INS導航系統的要因及改進運算法則。整合GPS/INS精確計算控制軌跡及誤差供整合系統處理及運算飛航軌跡與動態資訊,提昇全球衛星定位╱慣性導航整合系統之位移、速度與時基量測精度,使得載具能在航行與起降時確實獲得較佳的安全保障。 |
英文摘要 | Nowadays, there has been a major upsurge of interest in the integrated GPS/INS usage as a cost-effective way of providing the accurate and the reliable navigation for military and civil applications. Therefore, in this research, we propose a concisely and well-designed nonlinear architecture for the autonomous mobile vehicles. This system evaluates performance with a decentralized architecture for the fusion of information from different asynchronous sources. The GPS/INS filter mechanism, in this research, was developed with an error model including linear and non-linear components. The latter consists of a quadratic function of states and was approximated by a Gaussian-noise term thereby allowing Kalman filter being used under the varying measurement sets. Moreover an integrator dealing with navigation system has to provide continuous and dense outputs at the equidistant-time steps and also supplemented by a Runge-Kutta method or Hermite interpolation scheme. Conclusively, the corresponded network simulations and experimental results will be presented to demonstrate this novel non-linear navigation architecture of integrated GPS/INS in usage of the autonomous mobile and/or remote pilot vehicles. |
本系統中英文摘要資訊取自各篇刊載內容。