| Summary: | 碩士 === 國立成功大學 === 測量及空間資訊學系碩博士班 === 100 === INS/GPS integrated system has been one of the most popular methodologies in the research field of navigation technology. This dissertation aims at developing a real time low cost INS/GPS integrated navigator based on PC platform and resolving many intrinsic problems encountered in the development of real time system, like time synchronization, multithread concurrency control, automatic detection of ZUPT and the firmware design for odometer data acquisition. A MEMS IMU is applied in the system in order to meet the requirements of low cost and small size. The proposed system utilizes special aiding algorithms including odometer velocity update, auto ZUPT/ZIHR and NHC as a accurate update sources for extended Kalman Filter (EKF) to improve the accuracy of navigation solutions during GPS signal blockages. In the end, to evaluate the performance of the proposed system with developed special aiding algorithms, various field tests which include one open field, roads in downtown and loads rear a river bank are conducted and cross analyzed in two operation modes : pure INS mode and INS/GPS integration mode. Preliminarily, there are three significant experiment results presented in this study. Firstly, the proposed system with a novel busy-ZUPT/ZIHR is capable of providing a stable performance which operates kinematically in pure INS mode by 15 minutes. In the other field test of high speed motion, the proposed system with the special aiding algorithms can provide a stable performance which operates kinematic ally in pure INS mode by 20 minutes. Finally, the INS/GPS integrated solutions with a commercial grade GPS receiver are improved by 74% in position when special aiding algorithms are all applied.
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