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題 名 | 無陀螺儀慣性導航系統與GPS整合之研究=The Research of Integrating Gyroscope-Free Inertial Navigation System and GPS |
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作 者 | 洪兆宇; 方淳民; 王振宇; 李守誠; 段伴虬; | 書刊名 | 中正嶺學報 |
卷 期 | 34:1 民94.11 |
頁 次 | 頁283-297 |
分類號 | 440.98 |
關鍵詞 | 慣性導航系統; 固裝式; 誤差方程式; 卡爾曼濾波器; INS; Strap-down; Error equation; Kalman filter; |
語 文 | 中文(Chinese) |
中文摘要 | 無陀螺儀式慣性導航系統(Gyro-Free INS),經由適當之機制組合(Mechanization),可用以取代傳統INS運算獲得載具航向、航速與位置。由於系統誤差(System Error)影響,使得所計算載具之運動狀態誤差對於時間特別敏感。本論文研究整合六加速儀慣性導航系統與全球定位系統(GPS),以改善無陀螺儀慣性導航系統誤差;主要研究主題有三,第一,推導系統於切平面座標(Tangent-Plane Coordinate)導航方程式;第二,推導六加速儀恰性導航系統誤差方程式;第三,整合六加進議慣性導航系統及GPS,對載具運動狀態進行估測(Estimation)。經由數值模擬結果,INS./GPS誤差可降低約兩個級數(Two Orders),可大幅變善系統導航精度,未來可應用於自動駕駛及無人飛行載具導航。 |
英文摘要 | The Gyroscope-free inertial navigation system can measure the direction, velocity and position of a vehicle after a suitable configuration and mechanization. Because of system error effect, the navigation error of a Gyroscope-free INS is deeply affected by the time influence. This paper presents three important research issues. The first is the navigation equations of a Gyro free (six-accelerometer) INS that is based on the tangent-plane coordinate. The second is error equations of the proposed strap-down six-accelerometer INS. The third is a novel method for the integration of the six-accelerometer INS and the GPS. A superior result of simulation is found that the integrated INS/GPS can possess a more accurate navigation error, it almost have two orders less than conventional INS. The novel novel method of integrating six-accelerometer INS and GPS would be considered in auto-pilot and UAV design for the future application. |
本系統中英文摘要資訊取自各篇刊載內容。