Investigation of Adaptive Kalman Filter for Navigation System Design

• Main Authors: Tun-chao Chang, 張敦超
• Other Authors: Jiunn Fang
• Format: Others
• Language: zh-TW
• Published: 2009
• Online Access: http://ndltd.ncl.edu.tw/handle/38350522438600809326

碩士 === 逢甲大學 === 航太與系統工程所 === 97 === Abstract Currently, the Global Positioning System (GPS) products have been very popular, even though there are still some limitations. For example, the data is prone to jamming or being lost due to the limitations of electromagnetic waves, which form the fundamental of their operation. The system is not able to work properly in the areas due to signal blockage and attenuation that may deteriorate the overall positioning accuracy. The inertial navigation systems (INS) is a self-contained system that integrates three acceleration components and three angular velocity components with respect to time and transforms them into the navigation frame to deliver position, velocity and attitude components. However, the error in position coordinates increase unboundedly as a function of time. In order to solve the problem, the GPS/INS integrated navigation system is the adequate solution to provide a navigation system that has superior performance in comparison with either GPS or INS stand-alone system. This thesis presents a solution that combines the autonomous INS, which is good for short time stability and GPS, which is good for long time precision, to develop a GPS/INS integrated navigation system for solving the navigation when the GPS alone solution is temporarily unavailable. The adaptive Kalman filter based 2-D GPS/INS navigation system processing have been carried out for the land vehicle applications. The navigation performance has been evaluated in terms of measurement update rates and process noise covariances. Key words: GPS/INS integrated navigation system, Kalman filter, Adaptive Kalman Filter