| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程研究所 === 84 === Traditionally,inertial navigation has been used extensively in
vehicle positioning.Recently,the development of GPS positioning
has provided free and accurate absolute position information.
However,GPS also has large position errors and is subjected to
signal available problem for land vehicle applications.On the
other hand,INS provides autonomous and continuous position
information.However,its position errors are accumulative.The
integration of GPS and INS allows us to develope a more
accurate and robust positioning system. This thesis emphasizes
on the development of an automatic positioning and tracking
control system of a front wheel drive vehicle.We have discussed
the principle and error characteristics of the GPS and other
navigation sensors including Compass, gyroscope and wheel
encoders.Kalman filter was designed to integrate GPS and INS to
achieve accurate positioning.The kinematic equation of the
front wheel driven vehicle is derived based on the assumption
of non-slpping wheels and random accelerations.Using nonlinear
feedback linearization,we have also designed tracking
controllers for the vehicle and performed simulations to
investigate the peformance and error characteristics of the
controllers.Finally,we proposed the servo and sensor interface
design for further hardware implementation of the positioning
and tracking control systems.
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