| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 87 === In this thesis, GPS-based carrier phase difference method is used to perform the kinematic relative positioning, including fast double difference method and triple difference method. That means to use two receivers at the same time. When two nearby receivers both receive the messages from same satellite, the signal travel path should be nearly the same. The error produced by ionospheric effects and tropospheric effects will also similar. By differencing the measurements, common error can be eliminated and precise position can be obtained.
With this accurate positioning method, vehicle dynamics can be measured in real time. Using the moving data and the known input voltage of the dc motor, the vehicle dynamics model can be identified. Vehicle motion control can be achieved using the identified model as a result.
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