Estimation of navigation states and inertial sensor biases using the unscented Kalman filter for GPS/INS navigation system
碩士 === 國立臺灣海洋大學 === 通訊與導航工程系 === 97 === Global Positioning System (GPS) has been used widely. The GPS receiver can’t resolve the position precisely in the urban areas . Many ways such as electronic compass, inertial navigation system (INS),etc. were incorporated to assist GPS. In this thesis, GPS an...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2009
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| Online Access: | http://ndltd.ncl.edu.tw/handle/28257582520373672911 |
| Summary: | 碩士 === 國立臺灣海洋大學 === 通訊與導航工程系 === 97 === Global Positioning System (GPS) has been used widely. The GPS receiver can’t resolve the position precisely in the urban areas . Many ways such as electronic compass, inertial navigation system (INS),etc. were incorporated to assist GPS.
In this thesis, GPS and INS are integrated to solve the situation of lack of GPS signals. The INS needs to be installed on a stable platform. If INS can’t be stabilized for calibration in a long period of time, the problem of bias needs to be considered. In this paper, the filter approach is used to solve the problem of bias in the application of integrated navigation. Two mechanisms extended Kalman filter (EKF) and unscented Kalman filter (UKF) are utilized to estimate the bias in the integrated navigation system.
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