| Summary: | 碩士 === 國立海洋大學 === 導航與通訊系碩士班 === 91 === In this thesis, developing a full carrier phase DGPS/INS (tightly-coupled system) integration technique for attitude determination is a main object; in addition, the associate crux techniques are researched. Employing multiple antennas configure and Kalman filter approach estimates static and dynamic attitude information in the stand-alone GPS system. Integrate GPS and INS system to enhance accuracy of the attitude determination mechanism. In which, the double differenced observable will be employed as the measurement model of the Kalman filter. Correct attitude angle by best estimating the INS attitude errors and removing them. Employing Kalman filter provides several advantages, such as accuracy improvement, reliability enhancement, and real-time characteristics. This thesis will analyze and compare resulting for stand-alone GPS system, loosely-coupled GPS/INS system and tightly-coupled CDGPS/INS system. In order to advance observably for attitude determination, due to CDGPS/INS integration system enhances and advances feature of them, which improves the acquisition and/or reacquisition times and provides attitude information with high update rate and bounded errors.
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