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研究生: 李佳原
Li, Chia-Yuan
論文名稱: 利用 INS/GPS 定位定向網格監測摩天大樓之研究
Skyscrapers Watch Using an INS/GPS Integrated POS Grid
指導教授: 江凱偉
Chiang, Kai-Wei
學位類別: 碩士
Master
系所名稱: 工學院 - 測量及空間資訊學系
Department of Geomatics
論文出版年: 2010
畢業學年度: 98
語文別: 英文
論文頁數: 86
中文關鍵詞: GNSS/INS 整合定位定向系統時頻分析摩天大樓監測建築物形變
外文關鍵詞: Integrated GNSS/INS, Wavelet, Skyscraper Monitoring, Structure Deformation
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  • 一般的建築物監測系統通常需要於建築物興建時即建置感測器,像是在摩天大樓內裝置光纖技術感測器或是加速度計,此方法在近十幾年來其成效算是相當顯著。然而,這樣的內部建置方式並不適用於目前已存在的建物,對像是古蹟、高塔、大樓等進行內部結構工程,都潛在不可預期的危害。因此,新一代的定位及定向系統 (POS, Positioning and Orientation System) 整合了慣性導航系統 (INS, Inertial Navigation System)和全球衛星導航系統(GNSS, Global Navigation Satellite System),成為一個可外部建置於建物頂端而不影響其內部架構的監測平台,並以高精度且低成本的特性取代傳統的監測系統。而本研究的主要目的為發展整合INS/GNSS的定位定向網格系統,用來對摩天大樓進行地震監測。目前已於世界第二高的摩天大樓-台北101大樓頂樓完成實驗,並在台灣第二高摩天大樓─高雄85大樓(高雄金典酒店)進行長時間的觀測,這也是在全球首次利用精密的INS/GNSS定位定向系統進行超高樓層建築監測。本研究預計在高雄85大樓頂樓建立智慧型網格式的建築物監測系統;同時對訊號使用傳統快速傅立葉時頻分析技術及利用連續小波轉換進行訊號處理分析。該系統在未來可以用來即時監測地震事件或者是震災的先期預警系統。

    Conventional building monitoring technologies usually need to embed sensors to the infrastructure; this would be considered as a destructive way to monitor the movements of buildings. In recent decades, their functionalities have been proven successfully as most skyscrapers around the world are installed with embedded sensors including fibber optic sensors and accelerometers during the construction. However, they may not be desirable for some existing historical and tall buildings because heavy installation works for those embedded sensors may cause unexpected damages to the buildings. This study tries to seek the possibility of using low cost INS/GPS POS sensors with light installation works to set up monitor grids on high-rise and valuable buildings as sensor networks for earthquake early warning or detection systems. Currently, observations have been arranged on the top of skyscrapers like Taipei 101 (509.2 meters high), the second highest skyscraper in the world, and 85 Sky Tower (347.5 meters high), an 85-floor skyscraper located in Kaohsiung City, Taiwan. For further analysis, the Wavelet Transform (WT) was used to give the specific time of the eruption of certain high frequency events while traditional Fast Fourier Transform (FFT) only gives the frequency composition of a signal. The Continuous Wavelet Transform (CWT) spectrum analysis was applied to provide specific frequency information to identify the sources of disturbance; moreover, it revealed exactly when certain events take place. The preliminary results illustrated that the proposed POS grids detected the variations caused by the winds blowing from ocean to inner lands successfully in navigation solutions domain including position, velocity and attitude components. In addition, their spectrums illustrated similar responses thus made the findings of this study consistent.

    中文摘要 I ABSTRACT II ACKNOWLEDGEMENT III INDEX IV TABLE INDEX VI FIGURE INDEX VII LIST OF ABBREVIATIONS X CHAPTER 1 INTRODUCTION AND OVERVIEW 1 1-1 Introduction and Overview 1 1-2 Problem Statements 4 1-3 Objectives and Structure 7 CHAPTER 2 GNSS/INS INTEGRATED POS SYSTEM 8 2-1 Coordinate Frames and Transformations 8 2-1-1 Earth-centered Earth-fixed Frame 8 2-1-2 Earth-centered inertial Frame 9 2-1-3 Local level frame 10 2-1-4 Body frame 11 2-1-5 Reference Frames Transformation 11 2-2 Global Navigation Satellite System 14 2-2-1 Fundamentals of GPS 14 2-2-2 Positioning and Errors of GPS 16 2-3 Inertial Navigation System 18 2-3-1 Fundamentals of Inertial Navigation System 18 2-4 GNSS/INS Integrated POS 23 2-4-1 Kalman Filter 25 2-4-2 RTS Smoother 30 CHAPTER 3 STRUCTURAL DEFORMATION MONITORING 33 3-1 Structural Deformation Monitoring 33 3-2 Time-Frequency Analysis 37 CHAPTER 4 EXPERIMENTS AND RESULTS 43 4-1 Experiments Description 43 4-2 Integrated POS Results and Discussion 48 4-2-1 Positional Components 48 4-2-2 Velocity Components 52 4-2-3 Attitude Components 53 4-2-4 IMU Raw Data from Accelerometers and Gyroscopes 55 4-3 Fast Fourier Transform Analysis 58 4-3-1 FFT of Positional Components 58 4-3-2 FFT of Velocity Components 60 4-3-3 FFT of Attitude Components 61 4-4 Continuous Wavelet Transform Analysis 66 CHAPTER 5 CONCLUSIONS AND FUTURE WORKS 70 5-1 Conclusions 70 5-2 Future Works 72 REFERENCES 73 APPENDIX I NUMBERS OF GPS SATELLITE 76 APPENDIX II THE LATEST EXPERIMENT AND RESULTS 79 II-1 Experiment Description 79 II-2 Integrated POS Results and Discussion 82 II-3 Conclusions 86

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