Research on Tightly Coupled Algorithm in Integrated BeiDou and Inertial Navigation System

論文翻譯標題: 緊密式耦合演算法在整合式北斗衛星與慣性導航之研究
  • 楊 先立

學生論文: Master's Thesis


Nowadays Global Positioning System (GPS) which has been developed completely are widely used in various fields such as vehicle military navigation airplane and spacecraft Applications of GPS are everywhere in our life and we rely on GPS for route guidance However in urban environment GPS signals are sometimes blocked by buildings tunnels or affected by multipath effect To deal with this problem we can employ the inertial navigation system (INS) This system have advantages such as high updating rate not easily affected by external interference and high accuracy in short time We usually use an extended Kalman filter (EKF) to integrate GPS and INS According to the information of motion measured from INS and GPS we can estimate the velocity position and attitude of the vehicle BeiDou satellites system (BDS) is developed by China This system is composed of 35 satellites including 5 geostationary orbit satellites 27 in medium Earth orbit and 3 in inclined geosynchronous orbit We want to combine BDS into our system with GPS and INS helping us to achieve higher accuracy The GPS/INS integration system has many advantages such as accurate attitude high sampling rate continuously signals and accuracy along time and so on By combining others satellite systems can not only observe more satellites but also get better geographic distribution of satellites in the sky The thesis discussed the integrations of Beidou GPS and INS to seek performance enhancement Keyword: Kalman filter; tightly coupled; inertial navigation; satellite navigation
獎項日期2016 八月 4
監督員Jyh-Chin Juang (Supervisor)