臺灣博碩士論文加值系統

於GPS 與INS 的信號整合中，GPS 提供系統絕對位置與角度資訊，其長期穩定性佳，但容易受地形因素與天候影響，可能使GPS 功能降低。INS 之自主性(Autonomous)較高且短期穩定性佳，但是本身的定位誤差會隨著時間累積。GPS 與INS 的整合，可以彌補兩者的缺點，成為一個更佳的導航系統。相較於一般用於單晶片上之儲存裝置，MMC 記憶卡具有較大儲存空間，可記錄較大的數據資料量，配已適當的運算軟體，可以做為後續應用的基礎。本文利用微處理器設計一個獨立的航電平台，將GPS、INS 與資料儲存整合為一體，可以用在小型飛機或無人操作的飛行載具上。本文從系統的設計、軟硬體制作、以及實際的測試，完成一個小型的航電平台。

In the integration of GPS and INS, the GPS provides a good positioning and heading for good long period reliability, but it might be affected by the environment and whether to degrade its function capability. The INS is an autonomous system of good short period stability, but possesses significant time drift. The integration of GPS and INS compensates both defects and becomes a good navigation system. Comparing to many storage devices in microcontrollers, the memory size of Multimedia Card is larger than others that can be used to store long period data recording. By appropriate algorithm, the data in the memory card can be reconstructed for further analysis. This thesis adopts microprocessors to construct an independent avionic platform using GPS and INS integration for small aircrafts or unmanned aerial vehicles. System design, implement and test are completely demonstrated on an avionics platform.

ABSTRACT......................................... I
摘要..............................................II
誌謝............................................. III
CONTENTS......................................... IV
LIST OF ILLUSTRATIONS ........................... VI
LIST OF TABLES ...................................VIII
LIST OF ACRONYMS................................. IX
CHAPTER I INTRODUCTION ...........................1
1-1 Background and Motivation ....................1
1-2 Benefit of Integrating INS and GPS [2] .......3
1-3 Thesis Outline ...............................4
CHAPTER II INTRODUCTIONS OF INS AND GPS ..........6
2-1 Designs of Inertial Navigation System.........6
2-1-1 Gimbaled Systems............................7
2-1-2 Strapdown Systems ..........................8
2-2 Principle of Inertial Sensor .................9
2-2-1 Principle of Accelerometers ................9
2-2-2 Principle of Gyroscopes ....................11
2-3 Introduction of Global Positioning System.....13
2-3-1 Overview of GPS ............................13
2-3-2 GPS data....................................15
2-4 GPS-INS integration...........................16
CHAPTER III SYSTEM ARCHITECTURE ..................19
3-1 Introduction of the Platform..................20
3-2 Introduction of MSP430 .......................21
3-3 Inertial Measurement Sensor ..................24
3-3-1 Gyroscope ADXRS300 .........................25
3-3-2 Accelerometer ADXL311 ......................27
3-4 GPS Receiver..................................28
3-5 Multimedia Card...............................29
3-6 Introduction of File Allocation Table (FAT16) 30
3-6-1 Overview of a FAT16 File System ............31
3-6-2 Structure of a FAT16 File System............32
CHAPTER IV EXPERIMENTS AND VERIFICATIONS..........36
4-1 Testing Strategy .............................37
4-2 Unit Test ....................................38
4-2-1 ADC Output Test ............................38
4-2-2 Gyroscope and Accelerometer ................40
4-2-3 GPS Receiver Test ..........................42
4-3 Interface Communication ......................45
4-3-1 MSP430F149 and GPS test ....................45
4-3-2 MSP430 and MMC test ........................47
4-4 System Integration Test ......................49
4-5 Algorithm and data mapped.....................54
CHAPTER V DISSCUTIONS ............................61
CHAPTER VI CONCLUSIONS ...........................66
REFERENCES........................................67
VITA..............................................70

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