Integrated GPS/INS solution for land vehicle navigation with GPS outage

• Main Authors: Chih-Yun Teng, 鄧智允
• Other Authors: Jin-Wei Liang
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/38390841954575342333

碩士 === 明志科技大學 === 機電工程研究所 === 99 === This study integrates global positioning system (GPS) and inertial navigation system (INS) by means of Kalman filtering (KF). Due to inadequacy related to KF-based GPS/INS integration, relatively poor positioning accuracy could be resulted during long GPS outages. To overcome this problem, covariance matrices that are applied in KF and associated with the system noise are tuned over time via Genetic Algorithms method. Therefore, the study highlights the use of Genetic Algorithms techniques to the adaptation of the initial statistical assumption of the KF caused by possible changes in sensor noise characteristics. In addition, high-pass filter is designed and applied to remove signal offset. The latter could deteriorate the drifting problem. Finally, RTS (Rauch Tung Striebel) algorithm is adopted to smooth the navigation results. The proposed system is implemented on a vehicle so that the desired positioning accuracy can be examined. It is found that the adaptive mechanism can help improve the positioning accuracy of the integrated GPS/INS system during long GPS outages.