| Summary: | 碩士 === 國立臺灣大學 === 電機工程學研究所 === 91 === Abstract
GPS is the most advanced satellite navigation system in these years. It is an all-weather, worldwide, and continuous coverage system with high precision, but its dynamic property and the ability of anti-jamming are bad。In the opposite side, INS has the ability of independent navigation and can offer vehicle''s attitude, velocity, and position message without external signals. INS has the better ability of anti-jamming than GPS, but its positioning error gets larger and larger as time goes by. In the other words, it has the problem of error accumulation. The GPS/INS integrated system can eliminate each other''s defects, and make all the system better. Therefore GPS/INS integrated system is one of the most useful navigation systems now.
The main topic of this study is focused on four different integrated systems which are (1) loosely coupled open loop (2) tightly coupled open loop (3) loosely coupled close loop (4) tightly coupled close loop. We study and discuss these four systems by simulation.
Since the content of GPS/INS integrated system includes coordinate system, optimal control, Kalman filter…, etc. We first describe the concepts of coordinate system and transformation. Then we introduce the motion equations of the GPS/INS integrated system and mathematic models of the Kalman filter. Finally, we utilize the concepts and theories introduced previously to simulate and compare the four integrated systems. The simulation results demonstrate the reliability and effectiveness of the mathematical models and theories which inferred previously.
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