| Summary: | 碩士 === 國立臺灣大學 === 應用力學研究所 === 92 === The long-range navigation system has been widely applied to various vehicles. As for the flight vehicles such as fighter or missile, which are usually in drastical motion, the long-range navigation system is further required to be more capable in dealing with the attitude problems. It was shown before that the Global Positioning System and the Inertial Navigation System can be integrated successfully. However, the capability of dealing with the attitude problem is not fully developed in such integration system yet. The inability of the existing integration model in dealing with attitude problems is not apparent in low dynamic environment, but may appear significantly for drastically dynamic motion. To overcome the above-mentioned obstacle, this work tries to construct a new model which differs from the existing ones. The proposed model uses the attitude measurement and the unit quaternion, which is subject to the unit-length constraint. By using both the Constraint Filtering Method and the Extended Kalman Filtering Method in the proposed model, it is desired to enhance the capability of the filtering method to deal with attitude problems. The simulation results and the comparison between the proposed method and the classical one show that the developed scheme suits our need and is more reliable for long-range navigation of a violently moving vehicle.
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