摘要

論文題目：RAIM輔助之GNSS/INS緊耦合式整合系統

研 究 生：洪仕謙
指導教授：詹劭勳

近年來，緊耦合式慣性導航系統(Inertial Navigation System, INS)與全球衛星導航系統(Global Navigation Satellite System, GNSS)之整合系統已經成為熱門研究主題。相較於傳統的全球衛星導航於受限環境下的表現，此整合系統擁有更強健的導航能力並能提供更精確的導航成果。然而，此種緊耦合系統之普及度關鍵在於其成本及可應用之領域。因此，本研究利用低成本消費者等級之慣性導航儀器及全球衛星導航系統接收機，開發出一套不俱動態制約(motion constraint)之緊耦合系統以提升其可應用之領域。然而，為降低在市區環境中衛星訊號受到干擾的衝擊，源於接收機自主監測(Receiver Autonomous Integrity Monitoring, RAIM)及錯誤偵測排除(Fault Detection and Exclusion, FDE)之一致性檢測(consistency check)被導入本研究中，以排除那些遭受干擾的衛星訊號，並達到提升導航性能的目標。擴展式卡曼濾波器(Extended Kalman Filter, EKF) 在本研究中則扮演整和慣性導航及全球衛星導航觀測量之角色。

藉由分別使用來自全球定位系統(GPS)及北斗衛星導航系統(BDS)之衛星觀測量，三筆分別代表一般都市環境(middle-urban area)、密集都市環境(urban canyon)及包含郊區、一般及密集都市環境之綜合路徑路測資料被用來評估本研究之導航演算法。其中，最後一筆綜合路徑路測資料經本研究之導航演算法後處理後，相比於使用全球定位系統(GPS)衛星觀測量之純緊耦合架構後處理的導航成果，在定位精確度有17.84%之提升。而相比使用北斗衛星導航系統(BDS)衛星觀測量之純緊耦合架構後處理的導航定位精確度，本研究之導航演算法則有35.76%的進步。而有關其他路測資料及更詳細的導航成果與分析，則在本研究第四章呈現。

關鍵字：全球定位系統、北斗衛星導航系統、慣性導航、緊耦合整合式導航、接收機自主完整性監測

Abstract

Title: RAIM Aided GNSS/INS Tightly-coupled Integration System

Student: Shih-Chien Hung
Advisor: Shau-Shiun Jan

The Tightly-Coupled (TC) integration of the Global Navigation Satellite System (GNSS) and the Inertial Navigation System (INS) has become a popular research topic in recent years due to the advantage of being able to provide robust navigation solutions as well as better accuracy in constrained environments compared to conventional stand-alone GNSS positioning. However, the potential applications and the cost are the keys to the popularity of these TC integration systems. Therefore, in this research, a low-cost TC integrated navigation system using a consumer-grade GNSS receiver and INS are developed, where no motion constraints are applied, so the number of potential applications can be increased. Nevertheless, to mitigate the impact of GNSS signal distortion in urban areas, the consistency check originating from the Receiver Autonomous Integrity Monitoring (RAIM) Fault Detection and Exclusion (FDE) algorithm is adopted in this research. Through excluding faulty signals, the navigation performance of the proposed system may thus be improved. The extended Kalman Filter (EKF) is then adopted to fuse the clean GNSS and INS measurements to provide navigation solutions.

Three sets of data representing middle-urban area, urban canyon and the comprehensive environment including suburban area, middle-urban area and urban canyon are processed using the proposed system. The measurements of two GNSS constellations, Global Positioning System (GPS) and Beidou Navigation Satellite System (BDS), collected in the experiments are adopted separately to evaluate the proposed system. In the case of comprehensive environment, the results showed that the positioning accuracy post-processed by proposed system has 17.84% of improvement compared to that post-processed by pure TC integration algorithm when GPS measurements were adopted, while in the case of comprehensive environment using BDS measurements, the positioning accuracy has 35.76% of improvement compared to that post-processed by pure TC integration algorithm. More details and analysis regarding three sets of road data are given in the CHAPTER 4 of this study.

Keywords: Global Positioning System (GPS), Beidou Navigation Satellite System (BDS), Inertial Navigation System, Tightly-coupled Integration System, Receiver Autonomous Integrity Monitoring (RAIM).

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