MEMS???????INS/GPS????????

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MEMS???????INS/GPS????????

• ???????
• ???????? ????1?
• ?? ?

2
????

1. ????
2. ????
3. ????????
4. ??
5. ????
6. ????

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????(1)

• ???????????(Unmanned Aerial Vehicle?UAV)??????????
  ???
• UAV?????????????????????????????????
• ??UAV??????????????

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????(2)

• ??UAV???????????????????????????????
• ??????????????????UAV???????????
• ????
• ??????
• ????

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????(3)

• ??UAV???????????????????????????????
• ??
• ????(??10m??)???????????
• ????(100g??)???????(10 x 10 x 10cm??)
• ??????????(?????)

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????(1)

• ???????????????
• ?????????????
• INS/GPS????
• ????????MEMS???

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????(2)INS/GPS????

• ???(??????)???????????????????Inetial Navigation
  System
• ???????????Global Positioning System
• ???Kalman Filter???

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????(3)MEMS???

• ??????(Micro Electro Mechanical System)????????
• ?????????INS?????
• ???????????????????
• ????????(??g)???(??????)

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????(4)??????

• INS????(??????)?????Kalman Filter???????????????
  Update?
• GPS???????INS?????????Kalman Filter??????????????C
  orrect?

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????????(1)

• ???????????
• GPS?????????????????????
• ??????????????
• (???1)??????????????????????????
• (???2)???????????????????

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????????(2)

• ??????
• ?????????

12
????????(3)

• ??????
• ??????????????????

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????????(4)

• ????????
• ??????????

14
??

• ??????????????

15
????

• ???????????????
• ?????????????MEMS?????????
• ??????????????????????????????????
• ????????
• ????????????
• ?????????

16
????

• ??????-???????????????(?????)
• Applied Mathematics in Integrated Navigation
  Systems, Second Edition(Robert M.Rogers)

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???(1)??????

• ??????
• STMicroelctonics??LIS3L02AS?
• 3?1??????6G??

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???(2)?????

• ????(???????)
• ??????????MG2-01Ba?
• 2?1??????90degree/s??

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???(3)?????

• ????(??)
• STL Japan???21(HS-EG3)?
• 1?1??????60degree/s??

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???(4)GPS

• GPS
• ??????GH-80?
• ??10g?16????