Navigation Based on the Integration of GPS, Magnetometer, and Accelerometer
碩士 === 國立成功大學 === 電機工程學系碩博士班 === 95 === GPS (Global position system) has been applied widely in vehicle and personal navigation. GPS, however, is subject to multipath and blockage in urban and indoor environments. One method to account for this limitation is to employ inertial sensors to augment the...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2007
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| Online Access: | http://ndltd.ncl.edu.tw/handle/01249238277015151636 |
| Summary: | 碩士 === 國立成功大學 === 電機工程學系碩博士班 === 95 === GPS (Global position system) has been applied widely in vehicle and personal navigation. GPS, however, is subject to multipath and blockage in urban and indoor environments. One method to account for this limitation is to employ inertial sensors to augment the GPS. In the thesis, a low-cost magnetometer/accelerometer is used to fuse GPS data for navigation. The QUEST algorithm is used to process accelerometer and magnetometer data so that the attitude can be estimated. Accordingly, the gap in GPS positioning can be filled by using magnetometer/accelerometer data. Furthermore, the GPS data are used to calibrate magnetometer/accelerometer on line as the latter is subject to drifting effect. A calibration approach will be developed in order to ensure a bounded navigation error.
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