王立昇臺灣大學：應用力學研究所侯建群Hou, Jina-QunJina-QunHou2007-11-292018-06-282007-11-292018-06-282006http://ntur.lib.ntu.edu.tw//handle/246246/62392在導航系統中，全球定位系統(GPS)之應用漸趨普及，但受限於其基本能力，當訊號受到遮蔽時，GPS即無法提供即時準確之導航資訊。為解決此一問題，我們將借重INS自主之特性，發展GPS/INS整合式導航系統，彌補GPS訊號中斷之空窗期。 由於INS中的慣性感測器存在一偏置值，使得INS的定位誤差愈來愈大。因此在GPS/INS整合式導航系統中，我們將在GPS訊號未中斷時估測慣性感測器的偏置值，在GPS訊號中斷時使用已校正的INS進行定位，使兩個導航系能夠校正彼此之缺點，提高使用者的定位效能。 我們利用載具在平面上運動的條件發展二維GPS/INS整合式導航系統，並在GPS中斷時，利用載具的限制條件發展其虛擬量測量以取代GPS訊號。此外，我們發現若在導航系統中加入經由量測載具輪速而得的速率的資訊，可產生更佳的虛擬量測量，提高系統的效能。經由實驗數據驗證，我們所發展之整合導航系統確可達成設計之目標。此外，我們亦設計了三維GPS/INS整合式導航系統，並將與二維的架構比較。但在現有的實驗架構下，二維GPS/INS整合式導航系統足以適用於一般陸行載具導航。The Global Positioning System (GPS) has become very popular in designing navigation systems. But GPS cannot provide the precise and real-time positioning information when its signal is blocked. In order to solve this problem, another independent navigation system, INS, shall be adopted and the GPS/INS integrated system should be developed to provide the positioning information during the GPS outage. Due to the existence of bias error in using the inertial sensors, the navigation error with INS grows bigger and bigger with time. In the GPS/INS integrated system, the bias errors are estimated by using GPS signal. Once calibrated, the INS can provide positioning information during the GPS outage. Accordingly, the two navigation systems can compensate with each other, and the integration enhances the performance of the navigation system significantly. In this thesis, we shall develop the 2-D GPS/INS integrated system by using the constraint that the vehicle is moving on the plane. When GPS signal is unavailable, the notion of virtual measurement is adopted to provide some positioning information through the consideration of the constraints. It is further discovered that the information of the speed of the vehicle, which may be obtain by measuring the rotation rate of the wheel, is essential to generate good virtual measurement. The performance of the algorithm is verified by experimental result. Moreover, 3-D GPS/INS integrated navigation system is also developed and its result is compared with the 2-D GPS/INS system. It is seen that the 2-D GPS/INS system is adequate in vehicle navigation in our experiment setup.摘要﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ Ⅳ Abstract﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ Ⅴ 圖目錄﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ Ⅵ 表目錄﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒ Ⅹ 第一章 緒論﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒1 1-1 研究動機﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒1 1-2 論文架構﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒3 第二章 全球位行定位系統(GPS) ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒5 2-1 座標系統﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒5 2-2 全球衛星定位系統概況﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒9 2-3 全球衛星定位系統定位演算法﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒11 2-3.1 虛擬距離(psudorange) ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒11 2-3.2 都卜勒平移量(Doppler shift)﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒13 第三章 慣性導航系統(INS)及其數學模型的建立 ﹒﹒﹒﹒﹒﹒﹒15 3-1 姿態表示法﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒15 3-1.1 尤拉角(Eulerian angles)表示法﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒16 3-1.2 四元素(quaternion)表示法 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒19 3-2 慣性導航系統的架構﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒21 3-2.1 慣性導航系統簡介 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒21 3-2.2 慣性感測器簡介 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒23 3-3 載具運動的數學模型﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒27 3-3.1 載具運動的二維數學模型 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒27 3-3.2 載具運動的三維數學模型 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒35 第四章 GPS/INS整合式導航系統 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒43 4-1 卡爾曼濾波器(Kalman filter) ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒43 4-1.1 卡爾曼濾波器簡介 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒43 4-1.2 線性化卡爾曼濾波器 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒47 4-1.3 延伸型卡爾曼濾波器 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒49 4-2 GPS/INS整合式導航系統簡介 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒51 4-3 GPS/INS整合式導航系統 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒55 4-3.1 二維GPS/INS整合式導航系統﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒58 4-3.2 三維GPS/INS整合式導航系統﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒65 第五章 模擬及實驗結果﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒79 5-1 二維GPS/INS整合式導航系統模擬結果 ﹒﹒﹒﹒﹒﹒﹒80 5-2 二維GPS/INS整合式導航系統實驗結果 ﹒﹒﹒﹒﹒﹒﹒83 5-3 三維GPS/INS整合式導航系統模擬結果 ﹒﹒﹒﹒﹒﹒﹒99 5-3.1 三維導航系統模擬結果﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒101 5-3.2 二維導航系統和三維導航系統的分析比較﹒﹒﹒﹒﹒﹒﹒112 第六章 結論及未來工作 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒123 6-1 結論 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒123 6-2 未來工作 ﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒124 參考文獻﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒﹒1251446475 bytesapplication/pdfen-US全球定位系統慣性導航系統虛擬量測量GPSINSvirtual measurementthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/62392/1/ntu-95-R93543062-1.pdf