臺灣博碩士論文加值系統

近年來，移動測繪系統(Mobile mapping systems, MMS)因其能夠快速取得空間資訊而普遍被使用在許多應用中，這類系統通常透過整合慣性測量儀(Inertial Navigation System, INS)以及全球衛星定位系統(Global Positioning System, GPS)，取得位置及方位等時變參數，達到無縫直接地理定位的功能。傳統的整合策略是以鬆耦合架構(Loosely coupled, LC)結合卡曼濾波器(Kalman filter, KF)，但INS及GPS會受到許多誤差源的影響，尤其在某些對GPS不利的環境下，例如城市峽谷或隧道等，使用這類傳統的INS/GPS整合策略，且搭配的感測器及接收機等級較低時，定位精度受到誤差劣化的效應非常顯著。而透過使用高等級的硬體設備的確能提升整體定位的精度，但卻需要付出相當高的成本，甚至在某些條件下，受限於目前的資料整合技術，這些高成本的硬體設備仍然無法滿足使用者的需求，因此改善硬體的方式往往並不符合使用者的期望。本研究使用低精度且低成本的慣性測量儀及GPS接收機，透過改善INS/GPS整合策略並搭配進階的估計演算法，改善地面移動測繪系統的導航解精度。
針對INS/GPS整合架構，本研究提出一種改良的緊耦合架構，以克服目前緊耦合架構和鬆耦合架構的限制，並在GPS訊號脫落時，使用多種附加的輔助資訊及約制條件，以改善系統的可靠度。在估計演算法的部分，本研究使用模擬及實測資料，分析比較卡曼濾波器、無跡卡曼濾波器(Unscented Kalman filter, UKF)、粒子濾波器(Particle filter, PF)及混合濾波器(hybrid filter)的效能，並提出一種即時(on-line)的平滑器，改善現今的濾波技術及傳統平滑器的效能。最後透過不同的測試硬體及方案進行多次的戶外實地測試，評估並驗證本研究所提出之各種方法的效能。而分析結果顯示本研究提出的策略及演算法與傳統作法相比，能夠有效地改善系統效能。

Mobile mapping systems (MMSs) have been widely used to rapidly acquire spatial information. In such a system, the integration of the Inertial Navigation System (INS) and the Global Positioning System (GPS) is popularly applied as a direct geo-referencing system to seamlessly determine the time-variable position and orientation parameters. Given that both INS and GPS are affected by various error sources, these errors deteriorate the overall position and orientation accuracy of an integrated system that uses conventional INS/GPS integration strategies. These strategies include loosely coupled and common estimation strategies such as Kalman filter. These errors particularly occur when using low cost, small size inertial sensors and GPS receivers, or operating in GPS-hostile environments such as in urban canyons. The use of expensive equipment can improve the performance of the system, but also increases its overall cost. In some operating conditions, the high cost devices still do not fulfill the user’s requirements with the current dada fusion techniques. This study aims to improve the navigation solution accuracy of a land-based MMS utilizing a low cost inertial sensor and GPS receiver by focusing on integration strategies and advanced estimation algorithms.
For INS/GPS integration, a modified tightly coupled scheme was proposed to overcome the limitations of current tightly coupled and loosely coupled schemes. Various additional aids and constrains are discussed and applied to improve the robustness of the system in cases of GPS signal outages. For the estimation strategies, the efficiency of different filtering techniques such as KF, Unscented KF, particle filter, and hybrid filtering are analyzed using simulation and real data. A new estimation method called on-line smoothing is proposed to overcome the problems of filtering techniques and conventional smoothing algorithms. Various field tests using different devices and testing scenarios were conducted to evaluate the proposed methods. The analyzed results indicate that the proposed strategies and algorithms can significantly improve the performance of the system compared with conventional schemes. In various testing scenarios, the improvement of the modified TC over pure LC is about 60% and in GPS-denied environment, with the aid of additional constrains, the improvement of proposed scheme can reach to 90% over the scheme with INS/GPS.

TABLE OF CONTENTS
ABSTRACT III
ACKNOWLEDGEMENT IV
TABLE OF CONTENTS V
LIST OF TABLES IX
LIST OF FIGURES X
GLOSSARY OF ACRONYMS XIII
CHAPTER 1: INTRODUCTION 14
1.1 Background and Problem Statement 14
1.2 Objectives and Contributions 23
1.3 Thesis Outline 24
CHAPTER 2: FUNDAMENTALS OF INTEGRATED NAVIGATION SYSTEMS 25
2.1 Reference Frames 25
2.1.1 Inertial Frame 25
2.1.2 Earth Centered Earth Fixed (ECEF) Frame 26
2.1.3 Geodetic Frame 26
2.1.4 Local Level Frame 27
2.1.5 Body Frame 27
2.2 Inertial Navigation System 28
2.2.1 Principle of the Inertial Navigation System 29
2.2.2 INS Mechanization 31
2.3 Inertial Sensor Error Model 35
2.3.1 Overview of the Inertial Sensor Error 35
2.3.2 Stochastic Process 37
2.4 GPS Signal and Measurements 39
2.4.1. Principle of GPS 40
2.4.2. GPS Signal 41
2.4.3. GPS Measurements 42
2.4.4. GPS Data Processing 44
2.4.5. Carrier Phase Processing in Kinematic Positioning 48
2.5 INS/GPS Integration 51
2.6 Additional Aiding Sources 54
2.6.1. Non-holonomic Constrain 54
2.6.2. ZUPT/ZIHR Update 55
CHAPTER 3: ESTIMATION STRATEGIES 57
3.1 General Concept of Estimation 57
3.2 Kalman Filter 59
3.3 Linearized Kalman Filter 60
3.4 Extended Kalman Filter 62
3.5 Particle Filter 63
3.6 Unscented Kalman Filter 66
3.7 Hybrid Estimation 69
3.8 Simulation of Estimation Strategies 72
3.8.1. Simulation on Linear Function 73
3.8.2. Simulation on Nonlinear Function 76
3.9 Smoothing 78
3.9.1. Two-filter Smoother 79
3.9.2. Rauch–Tung–Striebel off-line Smoothing 80
3.9.3. Online Smoothing 82
3.9.4. Output Rate of Online Smoothing for Real-time Application 84
3.9.5. Output Rate and Window Size of Online Smoothing versus Navigation Accuracy 85
CHAPTER 4: SYSTEM DESIGN 88
4.1 General Integrated System Design 88
4.2 Design of Modified Tightly Coupled Scheme 90
4.3 Real-time Integrated System 91
4.4 Model Design for Estimation 93
4.4.1. System Model 93
4.4.2. Measurement Model 97
4.5 Abnormal Measurement Elimination 98
4.5.1. Analytic Method for Rejecting Abnormal GPS Measurements 99
4.5.2. Statistical Method for Rejecting Abnormal GPS Measurements 101
4.6 Software Design 103
CHAPTER 5: TESTING AND DISCUSSIONS 106
5.1 Test on Estimation Algorithms 106
5.2 Test on Integration Strategies 110
5.2.1 Test on modified tightly coupled 110
5.2.2 Test on different modes of tightly coupled 116
5.2.3 Test additional aid 119
5.3 Test on Smoothing Strategies 123
CHAPTER 6: CONCLUSIONS AND FUTURE WORKS 133
6.1 Summary 133
6.2 Conclusions 134
6.3 Future Works 135
REFERENCE 136
APPENDIX 142
PUBLICATIONS 145
Journal Papers 145
Conference Papers 145

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