The Study of the Three Dimensional Navigation System Software Design by Integrating GPS with INS
碩士 === 中華大學 === 機械與航太工程研究所 === 87 === Abstract The research is for the software design of a three dimensional navigation system by integrating GPS with INS. We use the GPS receiver to receive the raw data of satellite broadcast ephemeris, and to obtain the position of the satellite in WGS...
Main Authors: | , |
---|---|
Other Authors: | |
Format: | Others |
Language: | zh-TW |
Published: |
1999
|
Online Access: | http://ndltd.ncl.edu.tw/handle/67876946230384845117 |
id |
ndltd-TW-087CHPI0598023 |
---|---|
record_format |
oai_dc |
spelling |
ndltd-TW-087CHPI05980232016-02-03T04:32:22Z http://ndltd.ncl.edu.tw/handle/67876946230384845117 The Study of the Three Dimensional Navigation System Software Design by Integrating GPS with INS 全球定位系統與慣性導航系統之三度空間複合式導航系統軟體設計 Bo-Zhong Lin 林伯仲 碩士 中華大學 機械與航太工程研究所 87 Abstract The research is for the software design of a three dimensional navigation system by integrating GPS with INS. We use the GPS receiver to receive the raw data of satellite broadcast ephemeris, and to obtain the position of the satellite in WGS-84 coordinate frame. Then, using the least squared-error method to solve the navigation equations for positioning. INS is one kind of a self-contained system, it doesn''t need any other outside information. It depends on the inertial-components, for example: accelerometers and gyroscopes to measure the angular velocity and acceleration of vehicle motion, Along with the initial data, we can get the position, velocity, and attitude of the vehicle. This research is to study the loosely-coupled closed-loop structure of INS with GPS-aided, because there are two separate Kalman filters, one for GPS, and the other for INS, it is more easy to be implemented. Since the positioning accuracy of GPS is with long time stability, thus the divergent effect of INS can be improved with GPS-aided. On the other hand, since the positioning capability of INS is with short time accuracy, thus the jumped-characteristics or the lost track conditions due to receiver noise or antenna shielding effects can be improved by the GPS/INS structure. So the three dimensional navigation system by integrating GPS with INS can avoid the defects of each system, and raise the accuracy of positioning results. Keywords: Global Positioning System,GPS;Inertial Navigation System,INS;Loosely-Coupled Closed-Loop;Kalman Filter Jium-Ming Lin 林君明 1999 學位論文 ; thesis 110 zh-TW |
collection |
NDLTD |
language |
zh-TW |
format |
Others
|
sources |
NDLTD |
description |
碩士 === 中華大學 === 機械與航太工程研究所 === 87 === Abstract
The research is for the software design of a three dimensional navigation system by integrating GPS with INS. We use the GPS receiver to receive the raw data of satellite broadcast ephemeris, and to obtain the position of the satellite in WGS-84 coordinate frame. Then, using the least squared-error method to solve the navigation equations for positioning. INS is one kind of a self-contained system, it doesn''t need any other outside information. It depends on the inertial-components, for example: accelerometers and gyroscopes to measure the angular velocity and acceleration of vehicle motion, Along with the initial data, we can get the position, velocity, and attitude of the vehicle. This research is to study the loosely-coupled closed-loop structure of INS with GPS-aided, because there are two separate Kalman filters, one for GPS, and the other for INS, it is more easy to be implemented. Since the positioning accuracy of GPS is with long time stability, thus the divergent effect of INS can be improved with GPS-aided. On the other hand, since the positioning capability of INS is with short time accuracy, thus the jumped-characteristics or the lost track conditions due to receiver noise or antenna shielding effects can be improved by the GPS/INS structure. So the three dimensional navigation system by integrating GPS with INS can avoid the defects of each system, and raise the accuracy of positioning results.
Keywords: Global Positioning System,GPS;Inertial Navigation
System,INS;Loosely-Coupled Closed-Loop;Kalman Filter
|
author2 |
Jium-Ming Lin |
author_facet |
Jium-Ming Lin Bo-Zhong Lin 林伯仲 |
author |
Bo-Zhong Lin 林伯仲 |
spellingShingle |
Bo-Zhong Lin 林伯仲 The Study of the Three Dimensional Navigation System Software Design by Integrating GPS with INS |
author_sort |
Bo-Zhong Lin |
title |
The Study of the Three Dimensional Navigation System Software Design by Integrating GPS with INS |
title_short |
The Study of the Three Dimensional Navigation System Software Design by Integrating GPS with INS |
title_full |
The Study of the Three Dimensional Navigation System Software Design by Integrating GPS with INS |
title_fullStr |
The Study of the Three Dimensional Navigation System Software Design by Integrating GPS with INS |
title_full_unstemmed |
The Study of the Three Dimensional Navigation System Software Design by Integrating GPS with INS |
title_sort |
study of the three dimensional navigation system software design by integrating gps with ins |
publishDate |
1999 |
url |
http://ndltd.ncl.edu.tw/handle/67876946230384845117 |
work_keys_str_mv |
AT bozhonglin thestudyofthethreedimensionalnavigationsystemsoftwaredesignbyintegratinggpswithins AT línbózhòng thestudyofthethreedimensionalnavigationsystemsoftwaredesignbyintegratinggpswithins AT bozhonglin quánqiúdìngwèixìtǒngyǔguànxìngdǎohángxìtǒngzhīsāndùkōngjiānfùhéshìdǎohángxìtǒngruǎntǐshèjì AT línbózhòng quánqiúdìngwèixìtǒngyǔguànxìngdǎohángxìtǒngzhīsāndùkōngjiānfùhéshìdǎohángxìtǒngruǎntǐshèjì AT bozhonglin studyofthethreedimensionalnavigationsystemsoftwaredesignbyintegratinggpswithins AT línbózhòng studyofthethreedimensionalnavigationsystemsoftwaredesignbyintegratinggpswithins |
_version_ |
1718177543981367296 |