| Summary: | 碩士 === 國立臺灣海洋大學 === 通訊與導航工程系 === 94 === The Distance Measurement Equipment (DEM) is the common system used in popular navigation system. In generally, DME system has long-term stability. Then the divergent effect of an Inertial Navigation System (INS) might be calibrated with the aid of DME. In addition, the autonomous characteristic of INS can recover the effect of DEM system sheltered by environment or for the lost track conditions in the duration. Depend on these complemental characteristics to each other, the integrated DME and INS can be built. The main topic of this study is focused on four different integrated systems which are (1) loosely coupled feedforward (2) tightly coupled feedforward (3) loosely coupled feedback (4) tightly coupled feedback. In tightly coupled close loop system, we use residual to check the bias of dynamic model. When filter is unusual, we use Adaptive Filter to lower estimation inaccuracy.
Key words : Integrated Navigation Systems (INS), Kalman filter (KF), Adaptive Filter, Loosely-coupled, Tightly-coupled
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