臺灣博碩士論文加值系統

目前在使用者的定位方法上，全球定位系統(GPS)已經是一個相當精準的定位工具。除此之外，全球定位系統還可提供慣性導航系統(INS)及時修正資訊，所以GPS及INS的整合系統是一個非常有力的導航系統。然而，因為高精度的慣性導航系統非常昂貴，所以整合系統也不便宜。然而以單一量測方向的加速儀及單一陀螺儀所整合的單軸慣性導航系統，則便宜許多，且在某些方面有不錯的運用，例如：汽車導航等等。
本研究的主要目標為設計一個簡單但有效率的處理方法，來修正單軸慣性導航系統的誤差。主要將應用在水平的導航方面，例如：汽車導航、水平直線飛行等等。採用最小平方法為主要的演算法則，並使用GPS速度為觀測量，來量測INS的誤差量。在處理過程中，採用相異的精度等級，來處理GPS/INS數據。
結果顯示，以最小平方法估測速度及加速儀的量測偏差，可有效的壓制導航誤差。研究結果顯示固定筆數的修正方法可產生較小的誤差結果，設定精度等級的方法可以最少的計算時間提供高精度的導航資訊。

The Global Positioning System (GPS) has been a very accurate tool in determining a user’s position. In addition, the system can provides in time correction information for an Inertial Navigation System (INS). The combined GPS/INS system becomes a very powerful navigation system. However, the system is expensive due to the high cost in INS. One-axis INS, which consists of an accelerometer and one rate gyro, is much less expensive and is a good idea for some specific applications (e.g. car navigation).
The main goal of this study is to design a simple but effective data processing method so that the error from a single-axis INS can be reduced. The main application will be on horizontal navigation (e.g. car guidance, level straight flight). The least-squares (LS) method is adopted as the key data processing algorithm. GPS velocity is treated as an observation to sense the INS error. Several processing approaches are conducted with different accuracy levels.
The results show that The LS method with only estimating velocity and accelerometer bias is very effective in controlling navigation errors. The fixed correction interval approach provides the minimum errors. The approach with setting an accuracy level is with much less computing time.

第一章 緒論……………………………………………………………………1
第二章 全球定位系統與慣性系統……………………………………………4
2.1全球定位系統(Global Positioning System，GPS) ………………4
2.1.1影響GPS定位精度的因素…………………………………………4
2.1.2 GPS都卜勒觀測量與觀測方程式 ………………………………5
2.1.3 GPS接收儀輸出資訊 ……………………………………………6
2.2慣性導航系統(Inertial Navigation System，INS)………………7
第三章 系統模式與實驗設備……………………………………………………9
3.1系統模式 ………………………………………………………………9
3.1.1單軸加速儀觀測模式 ……………………………………………9
3.1.2最小平方法（Least-Squares Method …………………………9
3.1.3 RSS & RMS………………………………………………………11
3.1.4數據擷取及處理流程……………………………………………11
3.2實驗設備………………………………………………………………12
3.3 XL25分析 ……………………………………………………………13
第四章實驗結果與討論…………………………………………………………14
4.1 XL25與單軸加速儀輸出時間比對 …………………………………14
4.2轉換因子的影響………………………………………………………16
4.3取樣筆數的討論………………………………………………………16
4.4汽車直線前進實驗結果分析與討論…………………………………17
4.4.1速度差限制………………………………………………………19
4.4.2速度差限制及bias值修正………………………………………20
4.4.3速度差限制及最小平方法估算bias值…………………………21
4.5輕航機直線平飛前進實驗結果分析與討論…………………………21
4.5.1速度差限制………………………………………………………23
4.5.2速度差限制及bias值修正………………………………………23
4.5.3速度差限制及最小平方法估算bias值…………………………24
第五章 結論與建議 ……………………………………………………………25
5.1 結論 …………………………………………………………………25
5.2 建議 …………………………………………………………………26
參考文獻…………………………………………………………………………27

[1] International Civil Aeronautical Organization, Working Paper, A32-WP/59 , 1998
[2] RTCA Special Committees、Working Groups for CNS/ATM，工作報告，
SC-159, 2000
[3] http://www.rssi.ru/SFCSIC/SFCSIC_main.html
[4] http://www.galileosworld.com
[5] Wells, D., Guide to GPS Positioning, Canadian GPS Associates, 1996.
[6] Brown, A., “Extended Differential GPS”, Navigation, Vol.36, No.3, Fall, 1989.
[7] http://www.gpsworld.com
[8] http://www.trimble.com
[9] Tang, W.,”GPS and Trends in Modern Navigation Technology”, Workshop, Taipei, Taiwan, March 22-24, 1994.
[10] Dougherty, J. J., El-Sherief, H. and Hohman, D. S., Use of The Global Positioning System for Evaluating Inertia Measurement Unit Errors, Journal of Guidance, Control, and Dynamics, Vol.17, No.3, May-June 1994.
[11] Arshal, G., “Error Equations of Inertial Systems”, Journal of Guidance, Navigation and Dynamics, Vol.10, No.4, pp.351-358., 1987.
[12] K. P. Schwarz, 宋真坦，余水倍，鄧元正(1990)，全球定位系統與慣性導航研討會專集，中正理工學院。
[13] S. Sukkarieh, E. M. Nebot, and H. Durrant-Whyte, “A high integrity IMU/GPS navigation loop for autonomous land vehicle applications,” IEEE Trans. Robot. Automat., vol. 15, pp. 572–578, June 1999.
[14] 莊智清，黃國興，”電子導航”, 全華出版社 2001
[15] Wei, M. and Schwarz, K. P. (1990a), Testing a Decentralized Filter for GPS/INS Integration, Proceedings of the IEEE PLANS 1990.
[16]曹國暘(1993)，多感測器導航之分散式擴展卡爾曼濾波方法，碩士論文，國立成功大學航空太空工程研究所，台南。
[17] Gamini Dissanayake, Salah Sukkarieh,Eduardo Nebot, and Hugh Durrant-Whyte,” The Aiding of a Low-Cost Strapdown Inertial Measurement Unit Using Vehicle Model Constraints for Land Vehicle Applications”, IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 17, NO. 5, OCTOBER 2001
[18] Lin, C. F., Modern Navigation,Guidance,and Control Processing, Prentice Hall, 1991.
[19] 陳進忠(2000)，GPS都卜勒觀測值模式化及差分法測試，碩士論文，國立成功大學航空太空工程研究所，台南。
[20] 陳果夫(2001)，GPS整合單軸慣性導航系統應用於航空照相，碩士論文，國立成功大學航空太空工程研究所，台南。
[21] Braasch,M.S.,”A signal Model for GPS , Navigation” , Vol.36 , No.3 , Fall , 1989
[22] Remondi B.W., ”Using the Global Positioning System(GPS) phase observable for relative geodesy: modeling, processing and results.” Ph.D. Dissertation, University for Space Research, The University of Texas in Austin,1984


[23] John Micheal Nolan, ”Development of A Navigation System Utilizing the Global Positioning System in A Real Time, Differential Mode”, Unisurv S-40,1990