整合式的導航定位技術已儼然成為下一代導航系統的主要方向，其中又以慣性導航系統(Inertial Navigation System, INS)與全球定位系統(Global Positioning System, GPS)的整合最為引人注目。由於INS與GPS的互補特性，使得INS/GPS整合系統具有優異的定位定向表現。但由於高精度的整合系統硬體成本過於昂貴，使得INS/GPS整合技術局限在特定的應用領域，因此以低成本的感測器發展出合理精度的整合系統，將可大幅提升INS/GPS整合系統的應用空間。而在過去INS/GPS的整合架構通常以鬆耦合(Loosely Coupled)架構為主，當GPS衛星訊號良好時，其可提供優異的導航訊息，一旦可接收的衛星訊號少於四顆，該系統將不能提供GPS觀測量更新，導致INS獨自運作。然而，緊耦合架構(Tightly Coupled)卻以觀測量層面整合的概念解決了此一限制，在緊耦合架構下，只要使用者的可視衛星數大於一顆，即可從GPS中獲得觀測量更新，如此便能大幅提升了整合系統的可靠度。於是於本研究中，實踐了一個具有17個狀態參數的INS/GPS緊耦合卡曼濾波器，並使用微機電系統(Micro Electro Mechanical Systems，MEMS)等級的慣性量測元件(Inertial Measurement Unit, IMU)及GPS L1單頻接收儀作為實驗儀器，然後在三種不同的街道環境進行測試與成果分析。另外本研究亦開發了一套INS/GNSS整合系統模擬器，利用其產生的模擬觀測量對整合演算法有進行理論上的偵錯與評估。

Integrated navigation systems have become the next generation navigation technique and INS/GPS integrated system is the spotlight. Due to these two different systems are complementary, an INS/GPS integrated system has it excellent performance in positioning and orientation. The cost of a high-end INS/GPS integrated system is always been an obstruction in many applications. So in nowadays, people who works on the flied of INS/GPS integrated system are focusing on low-cost issue. In the past, a loosely-Coupled scheme is the main approach to integrate INS and GPS. It could provide excellent navigation solutions until the available GPS satellites are less than four. If GPS outages come out, the integrated system would work like a stand-alone INS, than the errors of navigation solutions will increase rapidly. However, tightly-Coupled integrated scheme solve this problem by treats GPS KF (Kalman filter) as a part of INS/GPS KF and GPS raw measurements (pseudo-range and Doppler) become the measurements in KF update procedure. That makes an integrated system can still benefit from GPS measurements only the available satellites are more than one. Therefore, an INS/GPS tightly-Coupled integrated system with 17-state is developed in this study. A MEMS grade IMU and GPS L1 single-frequency receiver was used in the flied test which includes three different scenarios. The results and related analyses of the flied test are shown in this thesis. In addition, , an INS/GNSS integrated simulator was implemented to verify the applicability of INS mechanization and KF used in this study.

尤瑞哲, (2003) 測量坐標系統.第二版

林泳成, (2008) 利用類神經網路發展混合式INS/GPS整合式定位及定向演算法之研究. 碩士論文. 測量及空間資訊學系, 國立成功大學, 台南, 台灣.

曾清涼 and 儲慶美, (1999) GPS衛星測量原理與應用. 國立成功大學衛星資訊研究中心.

羅貽騂, (2008) 利用UKF發展INS/GPS整合式定位演算法之評估. 碩士論文. 測量及空間資訊學系, 國立成功大學, 台南, 台灣.

Britting, K.R., (1971) Inertial Nvaigation Systems Analysis. John Wiley & Sons, Inc.

Brown, R.G. and P.Y.C. Hwang, (1997) Introduction to Random Signals and Applied Kalman Filtering. 3 ed. JOHN WILEY & SONS.

Bucy, R.S. and K.D. Senne, (1971) Digital synthesis of non-linear filters. Automatica. vol. 7: pp. 287

Carvalho, H., P. Del Moral, A. Monin and G. Salut, (1997) Optimal nonlinear filtering in GPS/INS integration. Aerospace and Electronic Systems, IEEE Transactions on. vol.33: pp. 835-850.

Chiang, K.W., (2004) INS/GPS Integration Using Neural Networks for Land Vehicular Navigation Applications. PhD Thesis. Department of Geomatics Engineering, University of Calgary, Calgary, Canada.

Chiang, K.W., (2007) Inertial Surveying and INS/GPS Integration Lecture Note Dept. of Geomatics, National Cheng Kung University.

El-Sheimy, N., (2004) Inertial techniques ans INS/DGPS Integration Lecture Notes ENGO 623. Dept. of Geomatics Engineering, University of Calgary, Calgary, Canada.

Farrell, J.A. and M. Barth, (1998) The Global Positioning System & Inertial Navigation. NcGraw-Hill.

Gautier, J.D. and B.W. Parkinson, (2003) Using the GPS/INS Generalized Evaluation Tool (GIGET) for the Comparison of Loosely Coupled, Tightly Coupled and Ultra-Tightly Coupled Integrated Navigation Systems ION 59th Annual Meeting/CIGTF 22nd Guidance Test Symposium, Albuquerqe, NM.

Gladiator Technologies, I., (2008) LandMark20 MEMS IMU/GPS User's Guide.

Godha, S., (2006) Performance Evaluation of Low Cost MEMS-Based IMU Integrated With GPS for Land Vehicle Navigation Application. MSc Thesis. Department of Geomatics Engineering, University of Calgary, Calgary, Canada.

Grewal, M.S., L.R. Weill and A.P. Andrews, (2001) Global Positioning Systems, Inertial Navigation, and Integration. 1 ed. Wiley-Interscience.

Groves, P.D., (2007) Principles of GNSS, Inertial, and Multi-Sensor Integrated Navigation Systems. Artech House Publishers.

Hide, C.D., (2003) Integration of GPS and Low Cost INS Measurement. PhD Thesis. Institute of Engineering, Surveying and Space Geodesy, University of Nottingham, UK.

Hoffmann-Wellenhof, B., H. Lichtenegger and J. Collins, (1997) Global Positioning System: Theory ans Pratice. 3 ed. Springer-Verlag.

Hou, H., (2004) Modeling Inertial Sensors Errors Using Allan Variance. MSc Thesis. Department of Geomatics Engineering, University of Calgary, Calgary, Canada.

ICD-GPS-200C, (1997) Navstar GPS Space Segment/Navigation User Interface.

Jan, S.-S., (2007) Satellite Navigation Modernization Lecture Note Dept. of Aeronautics and Astronautics, National Cheng Kung University.

Kalman, R.E., (1960) A new approach to linear filtering and prediction problems. Journal of Basic Engineering. vol. 82: pp. 35-45.

Luo, N., (2001) Precise relative positioning of multiple moving platforms using GPS carrier phase observables. PhD Thesis. Department of Geomatics Engineering, University of Calgary, Calgary, Canada.

Misra, P. and P. Enge, (2001) Global Positioning System: Signals, Measurements and Performance. 1 ed. Ganga-Jamuna Pr.

Nassar, S., (2003) Improving the Inertial Navigation System(INS) Error Model for INS and INS/DGPS Application. PhD Thesis. Department of Geomatics Engineering, University of Calgary, Calgary, Canada.

Nayak, R.A., (2000) Reliable and Continuous Urban Navigation Using Multiple GPS Antenna and a Low Cost IMU. MSc Thesis. Department of Geomatics Engineering, University of Calgary, Calgary, Canada.

Park, M., (2004) Error Analysis and Stochastic Modeling of MEMS based Inertial Sensors for Land Vehicle Navigation Application. MSc Thesis. Department of Geomatics Engineering, University of Calgary, Calgary, Canada.

Parkinson, B.W. and J.J. Spilker, (1996) Global Positioning System: Theory and Applications. vol. 1. AIAA.

Remondi, B.W., (2004) Computing satellite velocity using the broadcast ephemeris. GPS Solutions. vol. 8: pp 181-183.

Rogers, R.M., (2007) Applied Mathematics in Integrated Navigation Systems. 3 ed. American Institute of Aeronautics and Astronautics, Inc.

Schwarz, K.P. and M. Wei, (2000) INS/GPS Integrateion for Geodetic Applications Lecture Notes ENGO 623. Dept. of Geomatics Engineering, University of Calgary, Calgary, Canada.

Shin, E.-H., (2001) Accuracy Improvement of Low Cost INS/GPS for Land Applications. MSc Thesis. Department of Geomatics Engineering, University of Calgary, Calgary, Canada.

Shin, E.-H., (2005) Estimation Techniques for Low-Cost Inertial Navigation. PhD Thesis. Department of Geomatics Engineering, University of Calgary, Calgary, Canada.

Sukkarieh, S., (2000) Low Cost, High Integrity, Aided Inertial Navigation Systems for Autonomous Land Vehicles. Phd Thesis. Department of Mechanical and Mechatronic Engineering, University of Sydney, Sydney, Australia.

Titterton, D.H. and J.L. Weston, (2004) Strapdown Inertial Navigation Technology. 2 ed. AIAA.

Yang, Y., (2008) Tightly Coupled MEMS INS/GPS Integration with INS Aided Receiver Tracking Loops. PhD Thesis. Department of Geomatics Engineering, University of Calgary, Calgary, Canada.