王立昇Wang, Li-Sheng臺灣大學:應用力學研究所江明益Jiang, Ming-YiMing-YiJiang2010-06-022018-06-292010-06-022018-06-292008U0001-3007200814301500http://ntur.lib.ntu.edu.tw//handle/246246/184760本論文主要為發展一精確定位且節能的戶外自動導航車系統，該系統包括主控站、參考站以及移動站三個部分。移動站部分，首先我們利用太陽能模組穩定充電於不斷電系統，達到節能的目標。在感測器方面，我們整合了GPS、INS以及電子羅盤進行位置及姿態的解算。GPS部分，我們利用載波三次相位差分法得到載體的位置；INS部分，則根據運動方程式，來進行位置的解算；電子羅盤則用來判定載具的姿態角。 為了進一步精凖的定位，我們利用三種運算法：WLS、RLS以及KF進行GPS/INS之整合，得到載體位置的估測量，並且與預先規劃的參考路徑作比較，得到模糊補償器的輸入參數。再透過模糊資料庫得到輸出補償量，即為載體所需的線速度和角度補償，經由無線網路傳送到控制卡，施加於伺服馬達做前輪轉向及後輪驅動，以完成路徑追蹤。經實驗驗證，我們所發展之系統確實可行。The main purpose of this thesis is to develop a precise positioning and energy-saving outdoor automatic vehicle system, which includes the main station, the reference station and the moving vehicle. Firstly, we use a solar modular system to steadily charge the Uninterruptible Power Supply (UPS) on the moving station to save the energy. As for the sensors, we integrated the GPS, INS and electronic compass to obtain the position and attitude of the vehicle. The position information is computed by using either KGPS (Kinematics GPS) for GPS or INS through the kinematics equation. Moreover, electronic compass is used to determinate the attitude. In order to attain more accurate positioning, we use three algorithms to integrate GPS/INS：WLS(Weighted Least Squares), RLS(Recursive Least Squares) and KF(Kalman Filter). The position obtained is compared with the desired position. The fuzzy algorithm is then invoked to find the linear velocity compensation and angular compensation of the vehicle. The compensations are transmitted to the motion control card by using wireless link, which drive the vehicle to finish the path tracking. The experimental results showed that the proposed design is feasible.摘要……………………………………………………………………ibstract………………………………………………………………ii錄…………………………………………………………………iii目錄…………………………………………………………………v目錄…………………………………………………………………ix一章 緒論…………………………………………………………1 11 內容簡介與文獻回顧……………………………………1 12 論文架構…………………………………………………2二章 載具系統架構………………………………………………3 21 載具簡介………………………………………………3 22 感測元件………………………………………………4三章 GPS介紹與應用……………………………………………11 31 GPS系統架構…………………………………………11 32 載波相位差分法……………………………………12四章 INS導航定位及解算…………………………………………17 41 INS常用座標系及相互關係……………………………17 42 運動座標公式…………………………………………22 43 解算方法…………………………………………23 44 測試……………………………………………………28五章 GPS/INS整合系統設計………………………………………31 51 WLS(Weighted Least Squares)運算法………………31 52 RLS(Recursive least squares)運算法……………33 53 KF(Kalman Filter)運算法……………………………34六章 硬體實現與實驗結果………………………………………37 61系統整合…………………………………………………37 62模糊補償器………………………………………………38 63系統架構…………………………………………………42 64實驗結果及分析…………………………………………43七章 結論…………………………………………………………61考文獻………………………………………………………………62application/pdf1303394 bytesapplication/pdfen-US無人載具節能整合Unmanned VehicleEnergy-SavingIntegrationthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/184760/1/ntu-97-R95543041-1.pdf