本論文為實現一融合GPS與PL之定位方法，並應用於接收器由室外移動至室內的導航定位，期使接收器在移動過程中，當所接收的衛星訊號由單純的GPS訊號至GPS與PL訊號同時接收，到最後僅可接收PL訊號時，仍能進行定位解算求得合理之定位解。吾人使用擴展式卡爾曼濾波器實現定位方法，其中因應衛星數的變化與環境所造成的誤差影響，適時地改變估算狀態數目、系統雜訊協變矩陣與量測雜訊協變矩陣，讓擴展式卡爾曼濾波器能合適地平衡利用GPS與PL量測量，解算合理之定位解。最後，建立GPS接收器由室外移動至室內的導航測試實驗，並利用所設計之卡爾曼濾波器計算定位解，可觀察到當僅剩下虛擬衛星訊號時，仍能求出接收器的合理位置訊息。

　　The thesis presents a data fusion approach of combining GPS and PL positioning sensors. Although GPS service has been widely used in navigation, it is subject to signal obstruction problem. A pseudo satellite (PL) can be used to augment the positioning service, enhancing the overall coverage and accuracy. In this thesis, an extended Kalman filter is formulated to process GPS and PL measurements. The filter is adaptive in the sense that its state and associated covariance are adjusted in response to the availability of GPS/PL signals. An indoor/outdoor navigation experiment is established to demonstrate the performance of the proposed approach.

[1] G. M. Djuknic and R. E. Richton, “Geolocation and Assisted GPS,” Bell Laboratories, Lucent Technologies, 2001.

[2] J. M. Stone, J. D. Powell, “Precise Positioning with GPS Near Obstructions by Augmentation with Pseudolites,” Proc. IEEE PLANS, pp. 562-569, 1998.

[3] GPS LAB, Stanford University,<http://waas.stanford.edu/index.html>

[4] H. K. Lee, J. Wang, C. Rizos and W. Y. Park, “Carrier Phase Processing Issues for High Accuracy Integrated GPS/Pseudolite/INS Systems,” 11th Int. Assoc. of Institutes of Navigation World Congress, Berlin, Germany, pp. 21-24, 2003.

[5] C. Rizos, J. Barnes, D. Small, G. Voight and N. Gambale, “A New Pseudolite-Based Positioning Technology for High Precision Indoor and Outdoor Positioning,” Int. Symp. & Exhibition on Geoinformation 2003, Shah Alam, Malaysia, pp. 115-129, 2003.

[6] C. Kee, H. Jun and D. Yun, “Development of Indoor Navigation System using Asynchronous Pseudolites,” ION GPS 2000, Salt Lake City, pp. 1038-1045, 2000.

[7] D. Yun and C. Kee, “Centimeter Accuracy Stand-alone Indoor Navigation System by Synchronized Pseudolite Constellation,” ION GPS 2002, Portland, pp. 213-225, 2002.

[8] I. Petrovski, Y. Konishi et al., “Pseudolite Implementation for Social Infrastructure and Seamless Indoor/Outdoor Positioning,” ION GPS 2002, Portland, pp. 69-76, 2002.

[9] Y. C. Suh, Y. Konish and R. Shibasaki, “Assessing the Improvement of Positioning Accuracy Using a GPS and Pseudolites Signal in Urban Area,” Geoinformation Forum 2002, Tokyo, 2002.

[10] 曾清涼，莊智清，羅正方， 虛擬衛星即時動態擴增系統應用於土地測量之研究，國立成功大學衛星資訊中心，民91年。

[11] 莊智清，黃國興，電子導航，全華科技，民90年。

[12] Department of Defense/Department of Transportation, 1999 Federal Radio Navigation Plan, National Technical Information Service, 2000.

[13] B. W. Parkinson, J. J. Spilker, P. Axelrad, and P. Enge, Global Positioning System: Theory and Applications Vol. 1 and 2, American Institute of Aeronautics and Astronautics, 1996.

[14] B. H. Wellenhof, H. Lichtenegger, and J. Collins, Global Positioning System: Theory and Practice, 4nd Ed., Springer-Verlag, New York, 1997.

[15] GPS Joint Program Office, ICD-GPS-200 GPS Interface Control Document, ARINC Research Corporation, 1997.

[16] B. Y. Tsui, Fundamentals of Global Positioning System Receivers, Wiley Interscience Publication, 2000.

[17] 郭瑋倫，雙頻虛擬衛星發射器之建立，國立成功大學碩士論文，民91年。

[18] 賴文鉦，GPS雙頻虛擬衛星發射器之設計、製作與測試，國立成功大學碩士論文，民92年。

[19] 呂協錦，GPS虛擬衛星於改善機場精確進場之應用，國立海洋大學碩士論文，民89年。

[20] D. Zandonadi and F. Walter, “Pseudolite: Ground-based Transmitter for GPS-Design and Implementation,” Microwave and Optoelectronics Conference, Vol. 2, pp. 825-830, 2003.

[21] H. S. Cobb, GPS Pseudolite: Theory, Design, and Applications, Ph.D. Dissertation, Stanford University, 1997.

[22] J. C. Juang, K. Y. Cheng, C. L. Tseng and C. F. Lo, “The Design and Test of a Dual-Frequency GPS Pseudo-Satellite Augmentation System,” 11th Saint Petersburg International Conference, 2004.

[23] M. S. Grewal and A. P. Andrews, Kalman Filtering Theory and Practice, Prentice-Hall, Inc., 1993.

[24] C. W. Jang, J. C. Juang and F. C. Kung, “Adaptive Fault Detection in Real-Time GPS Positioning”, IEE Proc.-Radar, Vol. 147, No. 5, pp. 254-258, 2000.