| Summary: | 碩士 === 逢甲大學 === 自動控制工程所 === 93 === The research purpose of this thesis is to develop the integration type that an arbitrage uses the platform kinematics with the MEMS vibrational gyroscope concert up the intelligent extended Kalman filter to aim at the auto-alignment system.
As we know the traditional airplane navigates with the attitude measurement using mostly inertial navigation system (INS) with the global/positioning system (GPS). Using the error complementary characteristic of the INS and GPS in the Kalman filter to estimate the best attitude of the airplane. However at the platform attitude measurement, the work space of the platform is very small, so the above-mentioned method can’t be used. In view of the current the MEMS sensors,the development of the vibrational gyroscope is rather mature.
So we use quaternion method to calculate the platform attitude based on the MEMS vibrational gyroscope data; On the other hand, the length of the leg is calculated through the measured signal of the encoder, the corresponding platform attitude is found by using forward kinematics equation, and then the optimal platform attitude can be estimated with the intelligent extended Kalman filter, by this way we can achieve the goal of static and dynamic auto-alignment for the gyroscope.
Keywords: platform kinematics, MEMS Vibrational Gyroscope, Intelligent extended the kalman filter, quaternion method
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