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研究生：	洪長文 Hung, Chang-wen
論文名稱：	使用微機電感測器在GPS/INS導航系統的實現 Implementation of GPS/INS Navigation System using MEMS Sensors
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：	2009
畢業學年度：	97
語文別：	英文
論文頁數：	86
中文關鍵詞：	備援系統、微機電、全球定位系統
外文關鍵詞：	INS, MEMS, GPS
相關次數：	點閱：67 下載：2
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輕航機運動隨著時間過去日漸普及，以飛行為賣點的休閒活動正蓬勃發展，但是輕航機的飛行儀表系統價格卻始終維持在高點，許多駕駛在飛行時缺少儀表輔助，造成安全性上的疑慮。本篇論文旨在實現以微處理器為核心，整合微機電感測器、全球定位系統的GPS/INS整合系統。目的為提供一種可靠、低成本以及精巧的航電系統，加強輕航機飛行時的安全性。由於微機電感測器本身的精度不佳，需要諸多校正以及濾波後才能達到可用範圍，本篇論文也將步驟加以呈現。最後，使用演算法整合感測器提供的飛行數據求得載具的位置，以作為全球定位系統斷訊後的備援系統。

Recreation business in aviation has grown dramatically in recently year. Compare to the navigation instrument in mechanical architecture, precision electronics technology makes modern aviation instruments and equipments much tinier, more affordable and more applicable in different situation. Present Micro-Electro-Mechanical Sensor (MEMS) technology has drastically improving sensor size, weight, price and power consumption for high accuracy, high reliability and high stability as another option for navigation purpose. One of critical problem in using MEMS sensors is that the performance is poor when compare to other navigation sensors such as ring laser or fibre-optic gyros. Apply MEMS sensor in vehicle positioning directly will conduct intolerable result. For acceptable application purpose, augment with other position technologies such as GPS in order to limit the integration error must be done when choose MEMS sensors.This thesis focuses on implementation of a GPS/INS integrated system which includes calibration and testing each component in the architecture such as accelerometer, gyro, pitot tube and electric compass.

CHAPTER I	1
INTRODUCTION	1
1 Motivation	1
2 Main Idea	2
3 Literature Survey	5
4 Thesis Outline	7
CHAPTER II	8
PROBLEM BACKGROUND	8
1 Navigation Sensors	8
1.1 Electronic Compass	9
1.2 Accelerometer	10
1.3 Gyroscope	10
1.4 Air speed sensor	12
2 Navigation Coordinates	13
2.1 Coordinate Definition	13
2.1.1 ECEF and ECI frame	14
2.1.2 NED Frame	14
2.1.3 Body Frame	15
2.1 Euler Angle	16
2.2 Rotation coordinates	17
2.2.1 ECEF and NED coordinates	17
2.2.2 Body and NED coordinates	18
2.3 Principle of INS Navigation	19
3 Navigation Algorithm procedures	20
4 Error Analysis	21
4.2 Sensor Error	22
4.3 On board Error	22
5 Remark	23
Chapter III	24
System Configuration	24
1 System Procedure	25
1.1 System Overview	25
1.2 GPS component	26
1.3 INS component	28
1.4 Master component	29
1.5 System synchronization	32
2 Communication protocol - I2C	33
3 Potential Failure Situation	34
4 External Vibration	36
4.1 Engine vibration	36
4.2 Pulse vibration	38
5 Failure Prevention Mechanism	38
6 Remark	40
Chapter IV	41
System Implement	41
1 Microprocessor	41
2 Subsystem Introduction	43
2.1 GPS module	43
2.2 Compass module	45
3 Sensors	47
3.1 Accelerometer	48
3.2 Gyroscope	49
3.3 Accelerometer and Gyroscope Calibration	51
3.3 Pressure Sensor	52
4 Orthogonal Alignment	55
5 Final Implementation	57
6 Remarks	58
Chapter V	59
System Verification	59
1 Bicycle Test	59
Experiment results	61
2 Car Test	65
Experiment Results	67
GPS signal blocked simulation-Car test.	71
3 RC Airplane Test	73
Experiment results	75
GPS signal blocked simulation-Airplane test	78
4 Remarks	79
Chapter VI	80
Discussion and Conclusion	80
REFERENCES	83
                                    

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校外：2009-07-15公開

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