GPS/INS 複合導航系統之研究

Abstract

GPS 與 INS 是現行常用的導航系統，本篇論文主要在研究這兩個系統的 結合與互補關係。首先我們分別將這兩個系統作簡單的分析：在 GPS 部 份，我們探討了 GPS 接收器的硬體設計以及其運作原理。而 INS 部份則 撰寫了一個簡單的固裝式（Strapdown）INS 系統模擬程式。經由這些分 析和比較，我們得以了解結合系統（GPS/INS）的發展動機和可行性。在 這篇論文中，我們提出了一些結合的方式，並應用其中的"非直接前授" (Indirect Feedforward)與"非直接回授"（Indirect Feedback）方法， 分別設計了結合系統來做道路測試。實驗結果證實了這個系統的各項優點 及其發展空間。 In this thesis, we study the technology of integration of GPS and INS. These two systems are commonly applied in modern navigation missions. We first begin with investigating the functions of GPS and INS separately. By comparing the characteristics of each systems, we show the motivation and feasibility for integration. A strapdown INS simulation program is implemented to provide knowledge in the filter design for integration. Several hybrid integration methods are proposed to study the possible combination for hybrid navigation systems. Hybrid GPS/INS navigation system by employing the indirect feedforward and indirect feedback methods are implemented for the test of road navigation. The experimental results show the performance of the hybrid GPS/INS system is superior to the GPS or INS stand alone systems.