Data Collection SubsystemExternal Representaion Internal Representaion Motion Planning Subsystem Navigation Environment Controller Subsystem Data Structure Transformation... Find IG from
Trang 13>8@ " 4@4
>=< 14 1= 4@6
>=4 14 1= 4@7
Trang 14
64 " 76
66 76
Trang 283
GH
Trang 29Data Collection Subsystem
External Representaion
Internal Representaion
Motion Planning Subsystem
Navigation
Environment
Controller Subsystem
Data Structure Transformation
Trang 31(8,4)
1 2 3 4 5
Trang 34O
Trang 35(8,4)
1 2 3 4 5 1
2 3 4 5
6 7 8
j R
j f
Trang 54<
4
Trang 563 3 4
Trang 68+ -
ê 1 -
e 1 - e 2 +
Trang 69·½
,MS/G
H-G
Trang 70
/G#O4HOG#O4HN
G744H
G#O4#O4HDMD
/G#O4HNG#O4#HMD
/G#O4HN
Trang 71N
T+
Trang 72,D'
Trang 73Æ Æ, Æ*
Æ+
Æ)
Æ)
Æ)
Trang 74'
Trang 75
GG
Trang 76α 0
b y
b x
Trang 77INS output +
-
Inertial Error Estimates
Corrected inertial output
n e
v δz
n T
T
v
n bC
Trang 86
!D
+
Trang 87N
/
D
Æ/
Trang 89I M U
G P S
Receiver
Coordinate Transformation
I N S
C o m p u t a t i o n
Integration Filter
I M U
m e a s u r e m e n t s
INS estimated positioning information
GPS estimated position
and velocity in ECEF
f r a m e
GPS estimated position and velocity in navigation
f r a m e
Estimates of errors of INS estimated positioning information
Output positioning information
D
T
Æ/ G#O4#H
Trang 97G0HD<
G=6H
O6
Trang 980 D)
GH
G=7H
Trang 99GH D M4
GH 4
GHN
G
HDM4
G
H 4
G
HN
Æ/ D MÆ5
N
OG3 )
GHH
Trang 100
4 GHM OG)
GHH)
GH
OG)
GH3H)
H
Æ)S
G
H
Trang 101GH
V
5
GH
D
GH
T
5
GH
O
Trang 1034GH6 D
%4
%
D4
4GH
%4
%0D4
4G03H6 D4
T
5
N
G=64H
T/
D
/
Trang 104( ;- G=66H G=67H G=48H2G=6<H
G=4:H G=4@H
G#HD
%=
G/
H
DM6 N
/
½ ... Representaion
Internal Representaion
Motion Planning Subsystem
Navigation< /h3>
Environment< /h3>
Controller Subsystem
Data...
GPS estimated position
and velocity in ECEF
f r a m e
GPS estimated position and velocity in navigation< /h3>
f r a m e
Estimates...
Stand Alone GPS
0 8
Trang 1230 10 15 20 25
Standard