目前，在車輛導航定位領域中，使用GPS整合INS是非常廣泛的，可惜，一旦GPS失效時，卻僅能使用INS繼續輔助車輛導航的工作。由於，慣性感測器在長時間使用下會造成感測器的發散飄移現象以及偏移量，且加速儀在三維空間進行加速度量測時，會量測到因路面坡度的改變而產生重力加速度效應。因此，本論文首先分析感測器的誤差來源，再藉由這些誤差特性提出幾項校正法則進行慣性感測器之校正，同時，加速儀量測到的重力加速度誤差係利用氣壓計高度信號校正之。

為了證明感測器校正法則與氣壓計校正加速儀的有效性，本論文先針對加速儀、陀螺儀與氣壓計分別作條件性的靜態與動態量測實驗，其目的是確認本論文所提出之校正法則是可行的，最後再進行實際的道路實驗，利用氣壓計量測高度變化資訊來校正加速儀因坡度變化所造成的重力加速度誤差，進而實現純慣性導航之二維平面以及三維空間的方位推估。

Nowadays positioning systems integrating GPS and INS is widely used in vehicle navigation fields. However, when GPS failed one can only rely on INS alone to provide continuous vehicle positions for navigation purpose in these systems. INS sensors suffer from the drifts and biases under long term operations. In addition, accelerometers will be affected by the gravity effect generated from road grades in three-dimensional environment and this will result in error accumulations. In this thesis the error sources for various sensors are studied first. Based on the sensor error characteristics several sensor calibration methods are proposed to improve sensor performance. At the same time, the height measured by barometer is used to compensate the gravity effect in the accelerometer measurements.
In order to prove the validity of the proposed sensor calibration algorithms and barometer height compensation algorithm, this thesis starts with some conditional static and dynamic tests separately for accelerometer, gyroscope and barometer. The purpose of these tests is to confirming the proposed in the thesis is feasible. Finally, some real road tests are conducted. By using the height information of the calibration the gravity acceleration error generated by the road slope change, accurate two-dimensional and three-dimensional Dead-Reckoning results are achieved by using only inertial sensors.

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