目前全球衛星定位系統 (GPS) 已被廣泛應用於汽車、行人之導航，其缺點為衛星訊號易受遮蔽效應影響，導致GPS定位不精確甚至失效，故近年來許多科學家極力尋找他法補償GPS之缺點。本論文即致力於此，期望能以GPS/Magnetometer/Accelerometer之硬體架構為基礎，發展一結合磁力計與加速規量測量之演算法，估算導航位置解，用以輔助GPS，使GPS即使處於無法正常工作之空窗期，導航系統仍能保持定位精準度，如此將使導航系統更具強健性。另一方面，磁力計與加速規易受環境干擾而導致其特性產生些微變化，且一旦使用時間過長，會受長期漂移量之影響，故為了使磁力計與加速規永遠有效地發揮功用，本論文也致力於發展一校正法則，期望能採用GPS所提供之資訊使感測器進行自我校正之工作。

GPS (Global position system) has been applied widely in vehicle and personal navigation. GPS, however, is subject to multipath and blockage in urban and indoor environments. One method to account for this limitation is to employ inertial sensors to augment the GPS. In the thesis, a low-cost magnetometer/accelerometer is used to fuse GPS data for navigation. The QUEST algorithm is used to process accelerometer and magnetometer data so that the attitude can be estimated. Accordingly, the gap in GPS positioning can be filled by using magnetometer/accelerometer data. Furthermore, the GPS data are used to calibrate magnetometer/accelerometer on line as the latter is subject to drifting effect. A calibration approach will be developed in order to ensure a bounded navigation error.

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