簡易慣性導航系統對於軌跡預測之應用

Abstract

本論文研究簡易慣性導航系統在車輛行走軌跡預測上之應用，從慣性導航系統出發，結合車輛動態掌握車輛的軌跡及姿態，使用模擬軟體(MATLAB)驗證了理論之可行性，並架設一組簡易慣性導航系統及數個軌道平台來實驗系統之準確性，其中簡易慣性導航系統只需要一組陀螺儀以及兩組加速規，應用尤拉座標轉換法提出了適用於此系統的數學座標轉換方法，計算上更容易，並且提出利用簡易慣性導航系統的資訊應用於車輛軌跡預測之方法，經由實驗來證實此方法可以迅速掌握車輛未來可能行駛之軌跡。

This research is about applying SCINS (Simply Constructed Inertial Navigation System) in vehicle trajectory prediction, base on INS (Inertial Navigation System), combine with vehicle dynamic to know the vehicle’s trajectory and posture, use MATLAB to simulate and prove the theory, build up a SCINS and numbers of track to test the accuracy, only needs a gyro and two accelerometers, present a coordinate transform by Eular transform that can use in SCINS, and present a method that can predict vehicle’s trajectory by using the information from SCINS, and proved it by experimentation .