Design and Implementation of GPS/INS Integrated System Initial Alignment

• Main Authors: Cheng-Kai Lee, 李正凱
• Other Authors: Der-Ming Ma
• Format: Others
• Language: zh-TW
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/96621816128529247314

碩士 === 淡江大學 === 航空太空工程學系碩士班 === 94 === The thesis is dealing with the problem of initial alignment of INS/GPS integrated system; and in flight calibration of position, speed, and attitude. The basic structure of the integrated system is treating the navigation data from inertial navigation system as the system dynamics while those from the global positioning system as the measurement and using the kalman filter to correlate the data. The question of divergence of implementing kalman filters is discussed. An embedded system, based on the Linux kernel, which implementing the integrated system is realized and targeting into a single-board computer as the on-board computer of an UAV. A ground station, utilizing the object-oriented programming, is also developed to monitor the status of the UAV. The accompanied CD-ROM contains the computer codes of Matlab m-files and OBC program, test data from ground tests, and communication protocols.