| Summary: | 碩士 === 國立海洋大學 === 航運技術研究所 === 84 === Usually, the ships need accurate position and dynamic attitude
for long range navigation and high performance applications,
such as, the naval ships installed a fire control reference
system, oil platforms and subvehicles require high position
determination systems.Inertial Navigation System (INS) can
provide those navigation and ship attitude message
automatically. The phical INS in our institute is a self-
contained complete system that outputs the velocity, heading and
attitude datas. This INS can be combined with GPS to reduce the
drift of INS through a aided software algorithm.In this thesis,
we build an azimuth axis accelerometer with existing SAGEM TYPE
42 Heading and Attitude Reference INS. Developing a counter
data I/O software in order to process 12 channels inertial
instruments raw data during a real time period. An important
Local Level Navigation Algorithm is a main structure for
processing complete navigation and attitude computation.Finally,
the whole Hardware and Software is tested on the Two Axes Turn
Table for instruments error analysis purpose. To evaluate the
navigation performance of INS, the system is simulated the ship
motion by Turn Table. The contribution of this thesis is to
establish the foundation of future Aided GPS/INS System
research.
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