成功大學博碩士論文系統

簡易檢索 / 詳目顯示

回結果列表

研究生：	李璟輝 Lee, Jing-Hui
論文名稱：	小型飛機數位航電平臺 Small Aircraft Digital Avionics Platform
指導教授：	林清一 Lin, Chin E.
學位類別：	碩士 Master
系所名稱：	工學院 - 航空太空工程學系 Department of Aeronautics & Astronautics
論文出版年：	2007
畢業學年度：	95
語文別：	英文
論文頁數：	70
中文關鍵詞：	自主性、航電平臺
外文關鍵詞：	Accelerometer, Gyro, MSP430, INS, GPS
相關次數：	點閱：64 下載：4
分享至:	分享至facebook 分享至twitter

查詢本校圖書館目錄查詢臺灣博碩士論文知識加值系統勘誤回報

於GPS 與INS 的信號整合中，GPS 提供系統絕對位置與角度資訊，其長期穩定性佳，但容易受地形因素與天候影響，可能使GPS 功能降低。INS 之自主性(Autonomous)較高且短期穩定性佳，但是本身的定位誤差會隨著時間累積。GPS 與INS 的整合，可以彌補兩者的缺點，成為一個更佳的導航系統。相較於一般用於單晶片上之儲存裝置，MMC 記憶卡具有較大儲存空間，可記錄較大的數據資料量，配已適當的運算軟體，可以做為後續應用的基礎。本文利用微處理器設計一個獨立的航電平台，將GPS、INS 與資料儲存整合為一體，可以用在小型飛機或無人操作的飛行載具上。本文從系統的設計、軟硬體制作、以及實際的測試，完成一個小型的航電平台。

In the integration of GPS and INS, the GPS provides a good positioning and heading for good long period reliability, but it might be affected by the environment and whether to degrade its function capability. The INS is an autonomous system of good short period stability, but possesses significant time drift. The integration of GPS and INS compensates both defects and becomes a good navigation system. Comparing to many storage devices in microcontrollers, the memory size of Multimedia Card is larger than others that can be used to store long period data recording. By appropriate algorithm, the data in the memory card can be reconstructed for further analysis. This thesis adopts microprocessors to construct an independent avionic platform using GPS and INS integration for small aircrafts or unmanned aerial vehicles. System design, implement and test are completely demonstrated on an avionics platform.

ABSTRACT......................................... I
摘要..............................................II
誌謝............................................. III
CONTENTS......................................... IV
LIST OF ILLUSTRATIONS ........................... VI
LIST OF TABLES ...................................VIII
LIST OF ACRONYMS................................. IX
CHAPTER I INTRODUCTION ...........................1
1-1 Background and Motivation ....................1
1-2 Benefit of Integrating INS and GPS [2] .......3
1-3 Thesis Outline ...............................4
CHAPTER II INTRODUCTIONS OF INS AND GPS ..........6
2-1 Designs of Inertial Navigation System.........6
2-1-1 Gimbaled Systems............................7
2-1-2 Strapdown Systems ..........................8
2-2 Principle of Inertial Sensor .................9
2-2-1 Principle of Accelerometers ................9
2-2-2 Principle of Gyroscopes ....................11
2-3 Introduction of Global Positioning System.....13
2-3-1 Overview of GPS ............................13
2-3-2 GPS data....................................15
2-4 GPS-INS integration...........................16
CHAPTER III SYSTEM ARCHITECTURE ..................19
3-1 Introduction of the Platform..................20
3-2 Introduction of MSP430 .......................21
3-3 Inertial Measurement Sensor ..................24
3-3-1 Gyroscope ADXRS300 .........................25
3-3-2 Accelerometer ADXL311 ......................27
3-4 GPS Receiver..................................28
3-5 Multimedia Card...............................29
3-6 Introduction of File Allocation Table (FAT16) 30
3-6-1 Overview of a FAT16 File System ............31
3-6-2 Structure of a FAT16 File System............32
CHAPTER IV EXPERIMENTS AND VERIFICATIONS..........36
4-1 Testing Strategy .............................37
4-2 Unit Test ....................................38
4-2-1 ADC Output Test ............................38
4-2-2 Gyroscope and Accelerometer ................40
4-2-3 GPS Receiver Test ..........................42
4-3 Interface Communication ......................45
4-3-1 MSP430F149 and GPS test ....................45
4-3-2 MSP430 and MMC test ........................47
4-4 System Integration Test ......................49
4-5 Algorithm and data mapped.....................54
CHAPTER V DISSCUTIONS ............................61
CHAPTER VI CONCLUSIONS ...........................66
REFERENCES........................................67
VITA..............................................70
                                    

[1]. X. Zhang, Integration of GPS with A Medium Accuracy IMU for Metre-Level Positioning, UCGE Reports Number 20178, June 2003, M.Sc. Thesis.
[2]. A. Soloview, Investigation into performance enhancement of integrated Global Positioning Inertial Navigation Systems by frequency domain Implementation of inertial computational procedures, College of Engineering and Technology, Ohio University, 1998. Ph.D. dissertation.
[3]. Holux, “GR-86 User’s Guide”, March 2, 2006, Version D.
[4]. A. Lawrence, Modern Inertial Technology, Navigation, Guidance, and Control (2nd Edition), Institution of Engineering and Technology, 1998, ISBN 0-86341-358-7.
[5]. D. H. Titterton and J. L. Weston, “Strapdown inertial navigation technology”(2nd ed.), New York: Institution of Electrical Engineers, May 1, 1997, ISBN 0-86341-260-2.
[6]. Draper Laboratory - Dr. Draper and His Lab, from web: http://www.draper.com/corporate/profile/docslab.htm
[7]. Inertial guidance system - Wikipedia, from web: http://en.wikipedia.org/wiki/Inertial_guidance_system
[8]. A. C. Melissinos, Principles of Modern Technology, New York: Cambridge University Press, Mar 21, 2003, ISBN 0-521-35249-5.
[9]. W. R. Fried, M. Kayton, Avionics Navigation Systems, New York: J. Wiley, 1997,ISBN 0-471-54795-6.
[10]. Federal Aviation Administration: Satellite Navigation Product Teams, from web: http://gps.faa.gov/
[11]. A. El-Rabbany, Introduction to GPS: the Global Positioning System, Boston, Artech House, 2002, ISBN 1-58053-547-X.
[12]. Texas Instruments, “MSP430xF4xx Users Guide”, 2003.
[13]. Texas Instruments, “MSP430x44x Datasheets”, 2002.
[14]. C. Nagy, Embedded System Design using the TI MSP430 Series, 1st Edition, Elsevier Science, Amsterdam, 2003, ISBN 0-75067-623-2
[15]. 林榮三，吳賢財，謝文哲，省電型16 位元單晶片MSP430 入門實務，滄海，民國92 年。
[16]. 胡大可，MSP430 系列，單片機C 語言程序設計與開發，北京航空航天大學出版社，民國92 年。
[17]. 范逸之，江文閒，陳立元，C++ Builder 與RS232 串列通訊控制，文魁，2002。
[18]. Analog Devices, “ADXRS300 Datasheets”, Rev. 0 2003.
[19]. Analog Devices, “ADXL311 Datasheets”, Rev. A 2003.
[20]. MultiMediaCard - Wikipedia, from web: http://en.wikipedia.org/wiki/MultiMediaCard
[21]. Texas Instruments, Interfacing the MSP430 with MMC/SD Flash Memory Cards, January 2006.
[22]. Microsoft Corporation, “FAT: General Overview of On-Disk Format”, Version 1.03, December 6, 2000.
[23]. J. Dobiash, “FAT16 Structure Information”, from web: http://home.teleport.com/~brainy/fat16.htm
[24]. MultiMediaCard - Wikipedia, from web: http://en.wikipedia.org/wiki/File_Allocation_Table#Final_FAT16
[25]. M. Grewal, L. R. Well and A. P. Andrews, Global Positioning Systems, Inertial Navigation, and Integration, New York: Willey-Inter science, 1st Edition, 2001, ISBN 0-471-20071-9.
[26]. D. H. Hwang, S. W. Moon, T. K. Sung and S. J. Lee, “Design and Implementation of an Efficient Tightly-Coupled GPS/INS Integration Scheme”, Proceedings of 2000 National Technical Meeting, 2000, 159-165.
[27]. S. Beeby, G. Ensel, M. Kraft, H. White, MEMS Mechanical Sensors. 1st Edition, Artech House, Boston, 2004. ISBN 1-58053-536-4.

校內：2009-06-11公開
校外：2012-06-11公開

簡易檢索 / 詳目顯示

相關論文