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2021-06-18T13:32:29+09:00
2021-06-18T13:32:29+09:00
2021-06-18T13:32:29+09:00
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Ritsumeikan Univ.KO-266
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(Recursive Filters and Positioning Algorithms of Hybrid Inertial Navigati\
on Systems)Tj
/TT1 1 Tf
12 0 0 12 485.6875 759.75 Tm
(Hideo Kumagai)Tj
-36.766 -2.313 Td
(This thesis addressed the application of recursive filters to Positionin\
g Algorithm of Hybrid Inertial)Tj
-1 -1.5 Td
(Navigation System. Especially to the so-called Externally Aided Iner-tia\
l Navigation Systems using the)Tj
0 -1.5 Td
(Extended Kalman Filter. The positioning algorithm and these performances\
are studied in the case of Land-)Tj
-0 -1.5 Td
(Vehicle and Under Water Ve-hicle by comparing with the traditional filte\
ring techniques. In both cases)Tj
0 -1.5 Td
(several ex-perimental tests are carried out using the Inertial Navigatio\
n System and external aided)Tj
-0 -1.5 Td
(equipments.)Tj
1 -2.5 Td
(First, a brief review of the Strapdown Inertial Navigation Systems and t\
he principle of the composed)Tj
-1 -1.5 Td
(Sensors are presented, also Strapdown Navigation and its alignment in bo\
th stationary and moving condition)Tj
0 -1.5 Td
(are provided. And the standard Hybrid Navi-gation concept using the GPS \
\(Global Positioning System\),)Tj
-0 -1.5 Td
(Radio and Doppler radar is introduced for the easily understanding of th\
is thesis.)Tj
1 -2.5 Td
(Second, two external aided Inertial Navigation Algorithms are introduced\
, one is the Land Vehicle Hybrid)Tj
-1 -1.5 Td
(Navigation System and another is the Unmanned Underwater Vehicle Hybrid \
Navigation System. In both)Tj
0 -1.5 Td
(cases the necessity of aided navigation systems, the selection of estima\
ted errors and these dynamic equations)Tj
-0 -1.5 Td
(are explained describing noise characteristics. These values and the val\
idity of Extended Kalman Filter are)Tj
0 -1.5 Td
(also expressed. In these descriptions, several experimental test runs ar\
e conducted to estimate the feasibility)Tj
-0 -1.5 Td
(of these algorithms. In the Land Vehicle Naviga-tion, the method of avoi\
ding the initialization of covariances)Tj
0 -1.5 Td
(when the aided signal is switched from DGPS \(Differential Global Positi\
oning System\) information to VMS)Tj
-0 -1.5 Td
(\(Vehicle Motion Sensor\) information, is advantageous. Also the approxi\
mate expres-sion of aided signal is)Tj
0 -1.5 Td
(advantageous in Unmanned Underwater Vehicle Navigation.)Tj
1 -2.5 Td
(Finally, in Land Vehicle Navigation, the necessity of high accuracy posi\
tioning using low cost Inertial)Tj
-1 -1.5 Td
(Sensors like MEMS \(Micro Electrical Mechanical System\) is discussed. F\
urther the necessity of the transfer)Tj
-0 -1.5 Td
(alignment technique for improving the position accuracy is described in \
Underwater Vehicle Navigation.)Tj
ET
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