Investigation of a Modified Dual-Antenna Integrated Navigation Algorithm and Its Application to Vehicle Systems

Abstract

With the progress of technology the vehicles now are equipped with a variety of sensors to make driving safer more convenient and even automatically One of the most critical elements in the vehicle system is the localization system In general the Global Navigation Satellite System (GNSS) has been widely applied to provide positioning information However the positioning result tends to be unreliable in situations such as urban area under a bridge or in the mountains The combination of Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS) measurement data is often adopted to overcome the aforementioned issues Under cost consideration the low-cost IMU and dual-antenna receiver are used in the thesis The usage of a dual-antenna receiver is to correct the attitude error from MEMS-based IMU Therefore the thesis aims to develop a low-cost GNSS/ INS modified integrated navigation algorithm based on a dual-antenna receiver Compared with the conventional algorithm the pseudo measurements and signal evaluation mechanism are implemented to improve the robustness In the end the thesis presents and analyses the experimental results

Date of Award	2019
Original language	English
Supervisor	Jyh-Chin Juang (Supervisor)