الفهرس Only 14 pages are availabe for public view
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Abstract
The purpose of this thesis is to present detailed fundamental infonnation on a Global ositioning System (GPS) receiver, to study and understand the detailed operation . ciples of GPS with kalman filter and sources of error that affect its accuracy in ennining the user position. The signals from the Global Positioning System (GPS) together using Fuzzy Logic Kalman filter and the fused signal is fed to the vehicle ntrol system.
The thesis tries to combine Fuzzy logic and Kalman filter (Fuzzy Kalman ~lter/FKF) for target tracking application. The perfonnance is evaluated using numerical ,Simulation examples. Simulated implementations of the filters reveal that a tuned Kalman Filter provides the best perfonnance.
The results of simulations show that the fully autonomous vehicle can navigate to detennination of the position and velocity of a moving vehicle in sparsely as well as densely populated environment. It has been demonstrated that the Fuzzy Kalman Filter gives more accurate results than the Kalman Filter .
. The thesis contains six chapters.
Chapter 1 Introduces the general subject matter and its history of development and
Chapter 2 Illustrates the basic concept on the fundamentals of the Global Positioning : System (GPS) based on a series of graphic representations and introduces the user position requirements, which lead to the GPS parameters.
Chapter 3 Presents the basic concepts of Kalman Filter (KF) and the application with GPS data processing.
Chapter 4 Gives an introduction of Fuzzy Logic (FL) and the description of fuzzy Logic systems. The combination of Fuzzy logic and Kalman Filter is outlined in this chapter Chapter 5 The Computer program written in Matlab presents the simulation of t11 proposed Fuzzy Kalman filter algorithms with GPS data sets.
Chapter 6 Concludes the thesis results and suggests directions for future work.
Appendix Contains all the simulation programs in the thesis.