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題 名 | 無陀螺儀慣性導航機制實現與校準實驗=The Realization and Calibration Experimental of a Gyroscope-Free Scheme |
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作 者 | 彭國祐; 李守誠; 洪兆宇; 王振宇; | 書刊名 | 龍華科技大學學報 |
卷 期 | 18 民94.06 |
頁 次 | 頁75-90 |
分類號 | 440.98 |
關鍵詞 | 慣性導航系統; 系統誤差; 校準; INS; System error; Calibration; |
語 文 | 中文(Chinese) |
中文摘要 | :無陀螺儀式慣性導航系統(Gyro-Free INS),係將加速儀作適當機制組合,取代傳統INS運算獲得載具航向、航速與位置。無陀螺儀式慣性導航系統受系統誤差(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。本論文透過實驗結果,研究方向誤差對載具平移運動(Translation)造成誤差影響;主要研究主題有三,第一,六加速儀機制設計製造;第二,六加速儀機制方向校準(Calibration)實驗;第三,校準結果對導航影響之探討。經由實驗結果驗證校準(Calibration)方法之可行性,並運用數值模擬獲得導航之結果,未來結合GPS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, configured and assembled using an accelerometer, can measure the direction, velocity and position of a vehicle in flight. This paper will study a six-accelerometer INS realization and orientation calibration experiment. There are three important issues in this paper. The first is to design and manufactures a six-accelerometer INS. The second is to obtain the scalar factor, bias and misalignment angle through a calibration experiment. The third is to check the parameters obtained by calibration. The experimental results confirm that the six-accelerometer INS parameters are more accurate than the original specification. The proposed orientation calibration method is useful for the six-accelerometer INS. The realized six-accelerometer INS will be applied in future navigation investigations. |
本系統中英文摘要資訊取自各篇刊載內容。