隨著科技技術的發展，GPS/INS整合導航系統已經成為定位定向系統的主要發展趨勢之一。本篇論文旨在開發一個使用GPS/INS整合架構和戰術等級之慣性量測元件的尋北系統。其中最重要的程序為初始對準。INS初始對準的主要目的在於建立INS載體坐標系統和當地水平坐標系統之間的關係，並且初始化姿態角陣列。戰術等級的慣性量測元件可以獲得高精度的三維線性加速度和角速度。初始對準包含了粗略初始對準和精密初始對準。粗略初始對準的目的是計算載體坐標系統和當地水平坐標系統之間姿態角的近似值。精密初始對準是為了得到更精確的估計值，並且使用濾波器進行精密初始對準。為了評估不同演算法的效能，模擬成果包含了卡爾曼濾波 (KF)、無跡卡爾曼濾波 (UKF)、粒子濾波(PF) ，並且在實測中驗證。本研究在不同採樣量、不同頻率、不同航向角下的情況分析模擬和實測，並比較剔除偏差之後的資料和原始資料的成果改善程度。就本研究的實驗而言，剔除誤差之後的成果明顯有大幅的改善。實驗成果顯示此系統可達到0.0221度的精度。

With the development of technology, GPS/INS integrated system has been trend of the positioning and orientation navigation system. This thesis aims at developing a true north finding system using GPS/INS integrated system with an inertial measurement units (IMU) which is tactical grade. The most important process is the initial alignment. The main purpose of the initial alignment of INS is to establish a relationship between the body frame of INS and the local level frame and also initialize the attitude matrix. The three dimensional linear accelerations and angular rates are acquired from a tactical grade IMU. Initial alignment is composed of coarse alignment and fine alignment. The purpose of coarse alignment is calculating the approximation of attitude between the body frame of INS and the local level frame. Fine alignment is to get the accurate estimated values. Filters are applied in fine alignment. The thesis evaluated the performance of different algorithms includes Kalman filter (KF), Unscented Kalman filter (UKF), Particle filter (PF) with the simulated data. This thesis simulates and actual test in the situations of different number of samples, different sampling rates, different yaw angles, and compares the result of removing the bias and the result of raw data. The result of data after removing the bias has the great improvement. The result of actual test shows that the accuracy of north finding system proposed in this thesis could reach to 0.0221 degree.

1. 李東明，「捷聯式慣導系統初始對準方法研究」，中國哈爾濱工程大學自動化學院博士學位論文，2006。
2. 林明春，「電子羅盤在全自動智能陀螺尋北儀中的應用」，光學精密工程期刊，第十五卷第五期，719-724頁，2007。
3. 胡宏燦，「卡爾曼濾波器在導航系統初始對準中的應用」，微電子學與計算機期刊，第二十三卷第二期，163-165頁，2006。
4. 胡智祐，「發展低成本緊耦合式INS/GPS整合無縫車用導航系統之研究」，國立成功大學測量及空間資訊學系碩士學位論文，2009。
5. 張志軍，「基於光纖陀螺的尋北定向技術研究」，中國科學院長春光學精密機械與物理研究所博士學位論文，2005。
6. 衛育新，「GPS/INS組合導航定位定向系統研究」，中國陝西西北工業大學碩士學位論文，2004。
7. 談振藩，「一種低成本捷聯慣導系統的初始對準方法」，中國慣性技術學報，第十三卷第六期，1-5頁，2006。
8. 鄭蘭娟，「發展數位地圖嵌入式INS/GPS 導航演算法」，國立成功大學測量及空間資訊學系碩士學位論文，2010。
9. 劉政岳，「基於特殊輔助演算法之即時低成本MEMS INS/GPS整合式陸用導航器之效能評估」，國立成功大學測量及空間資訊學系碩士學位論文，2011。
10. 賴際舟，「分層近似粒子濾波及其在陀螺尋北中的應用」，儀器儀表學報，第三十二卷第十期，2342-2347頁，2011。
11. Ahn, H.S.,“Initial Attitude Estimation of Tactical Grade Inertial Measurement Unit for Airborne Environmental Camera”, Proceedings of the American Control Conference, Vol.5, pp. 4403~4408, Denver, USA, 2003.
12. Burgess, R.J.,“Development of a MEMS Gyroscope for Northfinding Applications”, Position Location and Navigation Symposium (PLANS) IEEE/ION, pp. 168~170, 2010.
13. Chiang, K.W., Inertial Navigation System: Lecture Note, Dept. of Geomatics, The University of Cheng Kung, Tainan, Taiwan, 2011.
14. Dong, G.M.,“Rapid Rough North-finding Method of Gyrotheodolite in Any Initial Orientation”, International Conference on Computing, Measurement, Control and Sensor Network, pp. 433~436, Taiyuan, China, 2012.
15. El-Rabbany, A., Introduction to GPS: The Global Positioning System,
Artech House, Boston, London, 2002.
16. Farrell, J.A. and Barth, M., The Global Positioning System & Inertial Navigation , NY, USA : McGraw–Hill, 1998.
17. Gao, F.Q.,“Initial alignment of strap down inertial navigation system using Kalman filter”, International Conference on Computer Application and System Modeling, Vol.3, pp. 629~633, Taiyuan, China, 2010.
18. Huang, C.M.,“Application of Adaptive Kalman Filter Technique in Initial Alignment of Strapdown Inertial Navigation System”, Chinese Control Conference, Beijing, China, 2010.
19. Jekeli, C., Inertial Navigation Systems with Geodetic Applications, Walter de Gruyter, Inc., Berlin, 2000.
20. Jiao, W.B.,“Application of Adaptive UKF in Initial Alignment of MINS/GPS Integrated Navigation System”, International Conference on Advanced Computer Theory and Engineering (ICACTE), Vol. 2, pp. 224~228, Chengdu, China, 2010.
21. Jiong, Y.,“Initial Alignment for SINS based on Low-cost IMU”, Journal of Computers, Vol. 6, pp. 1080~1085, 2011.
22. Kong, X.Y., Inertial Navigation System Algorithms for Low Cost IMU, PhD Thesis, Department of Mechanical and Mechatronic Engineering, The University of Sydney, Sydney, Australia, 2000.
23. Leng, Q.F.,“Design of a Magnetic Torquing System for an ESG North Finder”, Transactions on Magnetics, Vol. 33, No. 5, pp. 4005~4007, 1997.
24. Lapadatu, D.,“SAR500 - A High-Precision High-Stability Butterfly Gyroscope with North Seeking Capability”, Position Location and Navigation Symposium (PLANS) IEEE/ION, pp. 6~13, 2010.
25. Li, J.,“Initial Alignment Technology of Strapdown Inertial Navigation System Based-on Stationary Base”, International Conference on Intelligent Control and Information Processing, pp. 561~564, Dalian, China, 2010.
26. Lorenz, M., Pixhawk: A micro aerial vehicle design for autonomous flight using onboard computer vision, Switzerland, 2012
27. Mao, B.,“An Adaptive Particle Filter for MEMS Based SINS Nonlinear Initial Alignment”, Proceedings of the 2010 IEEE International Conference on Information and Automation, pp. 1504~1509, Harbin, China, 2010.
28. Oliver, J.W., An Introduction to Inertial Navigation, The University of Cambridge, Cambridge, United Kingdom, 2007.
29. Schwarz, K.P., Fundamentals of Geodesy : Lecture Notes ENGO 421, Dept. of Geomatics Eng., The University of Calgary, Calgary, Canada, 1999.
30. Sun, F.,“Initial Alignment for Strapdown Inertial Navigation System Based on Inertial Frame”, Proceedings of the 2009 IEEE International Conference on Mechatronics and Automation, pp. 3751~3756, Changchun, China, 2009.
31. Sotak, M.,“Testing the Coarse Alignment Algorithm Using Rotation Platform”, Acta Polytechnica Hungarica, Vol. 7, pp. 87~107, 2010.
32. Wang, X.L.,“A Fast Initial Alignment Method of Inertial Navigation System on Stationary Base”, Proceedings of the World Congress on Intelligent Control and Automation, pp. 1390~1394, Shanghai, China, 2002.
33. Wei, Y.L.,“Mobile Robot Autonomous Navigation Using MEMS Gyro North Finding Method in Global Urban System”, Proceedings of the 2011 IEEE International Conference on Mechatronics and Automation, pp. 91~96, Beijing, China, 2011.
34. Zhang, Z.J.,“Study on Technology of Orientation and North-Finding Based on Fiber Optic Gyroscope”, Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, pp. 2252~2257, Harbin, China, 2007.