声明
摘要
Abstract
TABLE OF CONTENT
Chapter 1 Introduction
1．1 Research background
1．2 GPS／INS navigation technology
1．3 Research Proposal
Chapter 2 Data processing for GPS and IMU
2．1 Principle of GPS satellite data transmission
2．1．1 Overview of GPS satellites
2．1．2 Signal format from GPS satellite
2．1．3 Status of each GPS satellite
2．2 Position calcuiation of GPS
2．3 Composition and calculation of IMU data
2．3．1 Overview of IMU module
2．3．2 Rotation and corner speed
2．3．3 Noise models of IMU
Chapter 3 GPS／INS Sensor Fusion and Position Simulation
3．1 Inertial Navigation System (INS)
3．2 Overview of GPS／INS
3．3 Applying Kalman Filter to GPS
3．3．1 Kalman Filter Expression
3．3．2 Equation of motion
3．3．3 Update Error covariance matrix
3．3．4 Modification of Error covatimme matrix in calculation
3．3．5 Modification of INS
3．3．6 Simulation by EKF algorithm
3．4．1 Derivation of the Nonlinear Observer
3．4．2 Simulation and experimental results
3．5 Summary and Discussion
Chapter 4 Velocity Compensation and Verification
4．1 Characteristics of geographical data modules
4．1．1 Reading GPS data
4．1．2 Reading IMU data
4．2 Experiments on velocity error
4．2．1 Velocity data optimization and comparison of results
4．2．2 Observer translational speed after combined information
4．2．3 Noise model and auto calibration
4．3 Discussion
Chapter 5 Summary
References
Acknowledgements
扬州大学;
