| Summary: | 碩士 === 國立臺灣海洋大學 === 電機工程學系 === 100 === Global Positioning System (GPS) has become a major technology in the modern day market on positioning and navigation. However, the signal quality is easily degraded when the satellite system is screened by the environment. Under such condition, the GPS is unable to provide continuous positioning information. Therefore, a mean to facilitate a continuous accurate Dead Reckoning under poor GPS satellite signal quality has evolved to be an important issue.
The information accuracy of GPS positioning is of particular important for the computation of inertial positioning system. In this thesis, data mining techniques were utilized for the data mining of GPS modules designed by different vendor companies. The aim is to identify and amend false results of the location-based information. In addition, the heading angle regularization algorithm has also been implemented for the compensation of the navigation angle when it has veered across the north axis and ultimately providing correct location information for the system.
The inertial positioning system proposed by this thesis is an onboard diagnostic system. The information on the speed and angular velocity was acquired by the gyroscopes. Extended Kalman Filter was use to estimate the angular velocity and the speed error compensation parameters. When the GPS Out-of-lock, error compensation parameters would then be implemented into the inertial positioning algorithm to amend the current status to achieve accurate inertial positioning services.
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