本研究從車輛的動態系統出發，結合了慣性導航系統的概念提出了一種簡易 慣性導航系統(Simply Constructed Inertial Navigation System, SCINS)來掌握車輛 的動態進而使用其中的感測數值來預測車輛行駛的軌跡，期望能在車輛主動式安 全上有所應用，甚至可利用於近年也蓬勃發展的機器人工業，首先利用模擬軟體 使用三種軌跡來驗證了預測理論的可行性，其中預測最大達到了12 個時間點之 後，結果最大的平均誤差僅有1.81%；然後利用控制器及感測元件成功的架設出 所構想之簡易慣性導航系統，而此系統在靜止時的使用範圍誤差最大也只有 0.58%；最後架設了三種軌跡的實際軌道平台，將簡易慣性導航系統作了一系列 的實驗後證實了其結果與模擬結果相吻合，而且實驗的最大平均誤差也僅在 10.19%，都在合理的範圍之內，往後必定可以進階為實際之應用，並且希望達到 更長遠的預測。
本研究所提出的 SCINS 是以最低標準架設，所需經費很低，而實驗的設定 sampling time 為 0.01 杪，所以往後如果可以再購置靈敏度更高以及頻寬更寬的 陀螺儀及加速計，將可提高sampling time，一定可以降低在 4.3 節中所遇到因加 速度讀干擾造成預測跳動的現象，還能將預測推至更長遠的時間點，大幅提高此 研究實際應用之可行性；然後因為本研究僅以車輛動態來考慮，當然車輛的整體 運動另外一大因素也在於人為的控制，所以在未來更期望加入使用者控制的變數 來補償所預測的軌跡，達到更精準的預測，更可以再結合現在也有不少研究的軌 跡修正方法來將車輛主動式安全推至另一個新的層次，當然若應用於速度更低的 移動式機器人之可行性更不在話下。
參考文獻
[1] Mammar S., Sainte-Marie J., Glaser S., “On the Use of Steer-by-Wire Systems in Lateral”,Robot and Human Interactive Communication, 2001. Proceedings. 10th IEEE International Workshop on 18-21 Sept. 2001 Page(s):487 – 492.
[2] Yih P, Ryu J, Gerdes JC, “Modification of vehicle handling characteristics via steer-by-wire”, IEEE TRANSACTIONS ON CONTROL SYSTEMS
TECHNOLOGY, 2003.
[3] Yih P, Gerdes JC, “Modification of vehicle handling characteristics via steer-by-wire II”, IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, Vol.13, P. 965-976, 2005.
[4] BARSHAN B, DURRANTWHYTE HF, “Inertial navigation systems for mobile robots”, IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, Vol.11, P. 328-342, 1995.
[5] Peng YK, Golnaraghi, M.F., “A vector-based gyro-free inertial navigation system by integrating existing accelerometer network in a passenger vehicle”, Position Location and Navigation Symposium, 2004. PLANS 2004
26-29 April 2004 Page(s):234 – 242.
[6] Peter Luethi, Thomas Moser, “Low Cost Inertial Navigation System”, Students project at the Electronics Laboratory of the Swiss Federal Institute of Technology, Zurich, Switzerland, 2000.
[7]Farrell JA, Givargis TD, Barth MJ, “Real-time differential carrier phase GPS-aided INS”, IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, Vol. 8, P. 709-721, 2000
[8] Farrell JA, Tan HS, Yang YC, “Carrier phase GPS-aided INS-based vehicle
CONTROL-TRANSACTIONS OF THE ASME, Vol. 125, P. 339-353, 2003 [9] Milliken, W. F. and Milliken, D. L., “Race Car Vehicle Dynamics”, SAE
Publication, 1995.
[10] G.S.Gordon, “Navigation System Integration”, GEC Journal of Technology, Vol.15, NO.2, 80-90, 1998.
[11] Daily R., Bevly DM, “The use of GPS for vehicle stability control systems”, IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, Vol.51, P.270-277, 2004.
[12] A.D. KING, B.Sc., F.R.I.N., “Inertial Navigation - Forty Years of Evolution”, Marconi Electronic Systems Ltd, 1998.
[13] Matsuo, Y., Okada, A., Kasuga, S., and Sekido, S., “Intelligent
Four-wheel-Drive System”, SAE Transaction, Vo1.101, 930670, pp. 53-60, 1993.
[14] 孔俊凱, “車輛行走之軌跡預測與軌跡誤差自動修正”, 國立交通大學機械研 究所碩士倫文, 2006.
[15] A. B. Chatfield, “Fundamentals of High Accuracy Inertial Navigation”, American Institute of Aeronautics and Astronautics, 1997.
[16] Hernandez J. I., Kuo C. Y., “Steering Control of Automated Vehicle Using Absolute Position GPS and Magnetic Markers”, IEEE Trans. on Vehicular Technology, Vol. 52, No. 1, Jan. 2003, pp 150-161.
[17] P. G. Savage, “Strapdown Inertial Navigation Integration Algorithm Design Paart1: Attitude Algorithms”, Journal of Guidance, Control, and Dynamics, Vol.21, No.1, 19-28, 1998.
[18] P. G. Savage, “Strapdown Inertial Navigation Integration Algorithm Design Paart2: Velocity and Position Algorithms”, Journal of Guidance, Control, and Dynamics, Vol.21, No.2, 208-221, 1998.
制工程研究所碩士論文, 2003.
[20]ADXRS300datasheet [21]ADXL320datasheet
[22] http://www.playrobot.com