GPS/INS Integrated Navigation Control with Experiment
Date Issued
2009
Date
2009
Author(s)
Liao, Yen-Hsiang
Abstract
The Global Positioning System (GPS) plays an important role in navigation system. But GPS cannot provide the precise and real-time positioning information when its signal is blocked. To deal with this problem, we integrate the inertial navigation system (INS) with GPS. The GPS/INS integrated system can provide the positioning information, even when the GPS positioning is failed.he errors of INS would increase with time by the integration procedure. In the GPS/INS integrated system, the drifts of INS are corrected by GPS signal. Even though the GPS is outage, the INS can still provide positioning information. Owing to the complementary characteristics of the two navigation systems, GPS and INS, the integrated system can enhance the performance significantly.The main purpose of this thesis is that using the GPS/INS integrated system to develop a precise positioning automatic vehicle system. And it can track the path planned in advance precisely. The position and attitude can be obtained from the GPS/INS integrated system. After comparing these measurements with the reference points planned in advance, we can get the arguments for the fuzzy compensator. The compensations of velocity and angular velocity of the vehicle are derived by using fuzzy compensator. These compensations are transmitted from the main station to the vehicle by using wireless connection and then the vehicle can finish the path tracking. The experimental results showed that the proposed design is feasible.
Subjects
EKF
GPS
INS
Type
thesis
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