隨著科技的進步，現有的車輛系統配備了各種不同的感測器，這使駕駛者更安全，更方便，甚至期望在未來能夠實現無人駕駛的情況。車輛系統中最重要的元素之一是導航應用。一般而言，全球導航衛星系統（GNSS）已廣泛應用於提供定位信息。然而，在許多情況下，例如市區，橋下或山區，定位結果往往不可靠。為了克服此議題，結合GNSS與INS資訊的整合導航架構被廣泛使用在車載系統中。考量到成本，系統將採用低成本慣性元件。然而為了降低成本陀螺儀產生的姿態誤差，此架構將採用雙天線系統。因此，本論文旨在開發一個基於雙天線接收機的低成本GNSS/INS改良式整合導航演算法。和傳統的演算法相比，加入了訊號評估與虛擬觀測量的應用以提升整體定位系統的強健性。並在論文的最後呈現實驗結果，並分析整合演算法與單一感測器定位的定位精度和可信度，以供未來於整合架構中感測器選擇之參考。

With the progress of technology, the vehicles now are equipped with a variety of sensors to make driving safer, more convenient, and even automatically. One of the most critical elements in the vehicle system is the localization system. In general, the Global Navigation Satellite System (GNSS) has been widely applied to provide positioning information. However, the positioning result tends to be unreliable in situations such as urban area, under a bridge or in the mountains.
The combination of Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS) measurement data is often adopted to overcome the aforementioned issues. Under cost consideration, the low-cost IMU and dual-antenna receiver are used in the thesis. The usage of a dual-antenna receiver is to correct the attitude error from MEMS-based IMU. Therefore, the thesis aims to develop a low-cost GNSS/ INS modified integrated navigation algorithm based on a dual-antenna receiver.
Compared with the conventional algorithm, the pseudo measurements and signal evaluation mechanism are implemented to improve the robustness. In the end, the thesis presents and analyses the experimental results.

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