Minimum Sensor Configuration Design For 3D Car Navigation System
| Autor: | Chao-wei Liu, 劉兆偉 |
|---|---|
| Rok vydání: | 2010 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 98 Nowadays, vehicle navigation system which integrates GPS and INS to provide continuous vehicle positions is a common application. However GPS are subjected to satellite signal availability and cannot guarantee uninterrupted positioning in urban environment at all times. Using low cost MEMS inertial sensors with GPS in PNDs to provide continuous, uninterrupted navigation capability has become an important topic. In order to get accurate position information without valid GPS signal, calibration algorithms and special signal processing for MEMS sensors must be considered to bring satisfactory navigation performance in three-dimensional space, including gravity compensation, motion detection, tunnel pressure wave removal, and adaptive online calibration are introduced. With proper calibrations and signal processing, navigation errors from MEMS sensors are reduced and the dead-reckoning result can be more reliable to provide continuing navigation in the absence of GPS signals. In this thesis, a minimum sensor configuration consists of an accelerometer, a gyroscope, and a barometer is proposed for portable navigation system 3-D dead-reckoning applications and the measurement models for these sensors are presented. All algorithms are more uncomplicated and suitable than common Kalman Filter algorithm to implement on real-time system. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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