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題 名 | 無陀螺儀固裝式慣性導航系統對初值問題之研究=A Research on the Initial Value Problem of the Gyroscope Free Strapdown Inertial Navigation System |
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作 者 | 李守誠; 劉正瑜; 王亞民; | 書刊名 | 中正嶺學報 |
卷 期 | 26:1 1997.07[民86.07] |
頁 次 | 頁11-24 |
分類號 | 447.85 |
關鍵詞 | 固裝式; 無陀螺儀式; 慣性導航; Kalman濾波器; Strapdown; Gyro free type; Inertial navigation; Kalman filter; |
語 文 | 中文(Chinese) |
中文摘要 | 無陀螺儀式慣性導航系統為現今導航發展之重要趨勢之一,具有低成本及高角加 速度量測能力之優點。運用六加速儀之無陀螺儀式慣性導航系統,為目前使用最少加速儀, 仍能決定運動加速度及角速度之系統,然其有須事先輸入角速度初值之缺點。本篇論文即求 解各運動狀態之初始值,方法為利用六加速儀組合,重新安排感測軸向後,除能感測載具運 動物理量外,同時藉由重力指示,提供初始姿態角。經由模擬證明,初始姿態角之獲得,有 助於估測過程中各狀態之傳導,且能限定估測誤差收斂於一定之範圍。因此,本論文發展之 方法,將可順利擴展六加速儀式慣性系統之應用。 |
英文摘要 | The mechanization of linear six-accelerometer INS has the fewest sensors among all gyro- free type systems that it is an important trend in navigation exploid and can measure linear and angular accelerations. It needs the initial values of the accelerometer configuration to execute the navigation functions. In this paper, it proposed a Kalman-based method to solve the initial value problem by means of a different sensing direction with the same combination of accelerometers that can sense physical quantities and gravity. The simulation results verify that once the initial attitude of a vehicle has been obtained, it is helpful on the state propagation and convergence within a certain time in estimation. Moreover, this method can extend to the application of six-accelerometer INS use. |
本系統中英文摘要資訊取自各篇刊載內容。