對於定位系統應用如載具導航系統，使用慣性元件構成的系統，通常會受到慣性感測元件內部誤差源與外界干擾誤差源，這些誤差來源導致定位系統增加積分累積誤差，故本研究提出一個簡單的慣性元件系統架構抑制干擾誤差，經由實驗結果顯示，干擾誤差的影響確有降低效果。接著利用所設計的架構系統結合補償誤差系統進行整合系統設計，以得到能結合兩種系統的誤差抑制效果提升改善效果，最後，對於慣性定位應用而言，整合系統能夠得到較佳的定位效果。

In navigation applications like real-time vehicle navigation, systems assembled by inertial measurement units usually have integral error from sensor’s internal noise and external disturbance error when running system. Because these error sources increases measurement error of navigation information, we present a simple design of inertial navigation system’s structure for suppressing the external disturbance error. From the results of experiments, the performance of suppressing disturbance error can improve accuracy of navigation system. And then, we integrated the structure and compensation error systems to advance the effects of suppressing internal error and external error. Finally, the integrated system design can acquire better accuracy in navigation applications.

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