GPS/INS Integrated Navigation Control with Experiment

全球定位系統(GPS) 現已成為最重要的導航輔助系統，但是有時因周遭環境受到遮蔽，而無法提供即時準確之導航資訊。我們使用INS來解決GPS訊號中斷的問題，發展出GPS/INS整合式導航系統。於INS中的慣性感測器存在一偏置值，INS定位誤差會隨著時間而放大。因此在GPS/INS整合式導航系統中，我們利用GPS訊號來校正INS的誤差量，並在GPS訊號中斷時使用已校正的INS進行定位，使兩個導航系能夠相輔相成，提高使用者的定位效能。此外，本論文並把此方法應用在戶外自動導航載具系統，在事先給定路徑後，可達到路徑追蹤的效果。透過GPS/INS整合式導航系統得到位置及姿態，並且與預先規劃的參考路徑作比較，得到運動補償器的輸入參數。再透過運動補償器得到載體速度與角度的補償量，經由無線網路傳送到控制卡，來調整載具的速度與角度，來達成路徑追蹤的任務。經由實驗證實，本系統所發展的方法確實可行。The Global Positioning System (GPS) plays an important role in navigation system. But GPS cannot provide the precise and real-time positioning information when its signal is blocked. To deal with this problem, we integrate the inertial navigation system (INS) with GPS. The GPS/INS integrated system can provide the positioning information, even when the GPS positioning is failed.he errors of INS would increase with time by the integration procedure. In the GPS/INS integrated system, the drifts of INS are corrected by GPS signal. Even though the GPS is outage, the INS can still provide positioning information. Owing to the complementary characteristics of the two navigation systems, GPS and INS, the integrated system can enhance the performance significantly.The main purpose of this thesis is that using the GPS/INS integrated system to develop a precise positioning automatic vehicle system. And it can track the path planned in advance precisely. The position and attitude can be obtained from the GPS/INS integrated system. After comparing these measurements with the reference points planned in advance, we can get the arguments for the fuzzy compensator. The compensations of velocity and angular velocity of the vehicle are derived by using fuzzy compensator. These compensations are transmitted from the main station to the vehicle by using wireless connection and then the vehicle can finish the path tracking. The experimental results showed that the proposed design is feasible.目錄要…………………………………………………………………………………….ibstract………………………………………………………………………………..ii錄…………………………………………………………………………………...iii目錄…………………………………………………………………………………v目錄………………………………………………………………………………..vii一章 緒論…………………………………………………………………………..1.1 內容簡介與文獻回顧…………………………………………………...1.2 論文架構………………………………………………….......................2二章 全球定位系統(GPS)..…………………………………………......................3.1 全球定位系統架構.……………………………………………..............3.2 全球定位系統演算法…………………………………….......................4三章 慣性導航系統(INS)及其數學模型………………………………………...10.1 座標系統…….…………………………………………………………10.2 座標轉換……………………………………………………………….13.3 慣性導航系統架構…………………………………………………….15.4慣性導航系統數學模型………………..………………………………18四章 GPS/INS整合式導航系統………………………………………………….25 4.1 卡爾曼濾波器(kalman filter)...………………………………………...25 4.2卡爾曼濾波器整合方式分類.………………………….........................29 4.3 二維GPS/INS整合式導航系統………………….................................30五章 載具系統架構……………………………………………………………....32 5.1 載具硬體設備……………………….…………………………………33 5.2 載具軟體架構……………….………………………….……………...37六章 載具系統整合與實驗結果………………………….……………...………38 6.1系統整合………………………………………………………………..38 6.2模糊補償器……………………………………………………………..39 6.3系統架構………………………………………………………………..43 6.4實驗結果及分析………………………………………………………..45七章 結論與未來工作……………………………………………………………53考文獻……………………………………………………………………………..54目錄3.1 經度、緯度、高度示意圖……………………………………………………113.2 ECI frame、ECEF frame、NED frame關係圖………………………………...123.3 附體座標系統示意圖…………………………………..……..…….……….123.4 二維導航系統模型示意圖…………………………………………...……...183.5 二維導航系統姿態示意圖…………………………………….………..…...244.1 卡爾曼濾波器量測更新和時間更新示意圖……………….……...………..274.2 延伸型卡爾曼濾波器示意圖.……………………………….………...…….295.1 載具整體外觀………………………………………..……………..……......325.2 載具硬體架構…………………………………………….…...…………..…335.3 電子羅盤………………………………………………………….………….335.4 GPS接收機…………………………………………………..……..………..345.5 運動控制卡……………………………………………………….…...……..345.6 無線網路基地台………………………………………………….….………355.7 USB無線網卡………………………………………………………...………355.8 不斷電系統…………………………………………………….…….………355.9交流伺服系統TSDA-CB………………………………………….…………365.10 INS感測器…………………………………………………….…………….366.1 無人載具系統……..…………………………….………….……………......386.2 參考位置與實際位置的運動補償...……………………….………….…….396.3 輸入變數 歸屬函數…..………………………………….………….……..406.4 輸入變數 歸屬函數……..……………………………….………………..406.5 輸入變數 歸屬函數…..…………………………………….……...………416.6 輸出變數Δυ歸屬函數………….…………………………….…………......416.7 輸出變數Δs歸屬函數……..………………………………………………..416.8 系統架構流程圖……..…………..……………………………….………….436.9 參考路徑(S型)……..…………..……………………………….………….446.10 最小參考距離及最小參考角度定義...……………………….……………456.11 使用GPS定位之實驗結果……….………………………….….…………466.12 GPS在X方向定位實際位置與參考位置之比較…………………………476.13 GPS在Y方向定位實際位置與參考位置之比較…………………………476.14 GPS實際姿態與參考姿態之比較…………………………….……………476.15 使用GPS/INS整合定位之實驗結果………………………………………486.16 GPS/INS整合定位在X方向定位實際位置與參考位置之比較.....………496.17 GPS/INS整合定位在Y方向定位實際位置與參考位置之比較….………496.18 GPS/INS整合定位實際姿態與參考姿態之比較………..…………………496.19 GPS/INS整合定位並有GPS訊號中斷之實驗結果…………………….…506.20 GPS/INS整合(訊號中斷)在X方向定位實際位置與參考位置之比較..…516.21 GPS/INS整合(訊號中斷)在Y方向定位實際位置與參考位置之比較..…516.22 GPS/INS整合(訊號中斷)實際姿態與參考姿態之比較…………...………516.23 鄭[13]實驗結果………….....………………………………….……………52目錄6.1補償模糊規則庫………………………………………………………………4