基于DSP的水下滑翔器组合导航系统设计与算法研究

发布时间：2018-04-16 04:18

本文选题：惯性/地磁/卫星组合导航 + 误差建模与补偿　；参考：《东南大学》2016年硕士论文

【摘要】：随着科学技术的发展,水下潜器是对海洋资源进行开发和利用的一个重要工具和手段,无论在民用上还是在军事上都起着重要作用。水下滑翔器是为了满足对海洋资源进行探索与开发以及对海洋环境进行监测的需要,将传统的海洋浮标技术与水下潜器技术结合而设计和研制出的一种特殊的水下潜器。水下滑翔器是一种完全自主式的智能水下潜器,按照预设航线进行滑行并完成相应的任务。而要使滑翔器按照预先设定的航线进行滑行就需要实时的为滑翔器的姿态调节等控制系统提供导航定位信息,因此,需要一个稳定,可靠和高精度的导航定位系统为滑翔器提供导航定位信息。本文围绕水下滑翔器的工作特点和要求以及水下导航环境复杂、信息源少等特点,采用水下惯性导航、卫星导航和地磁导航组合导航定位的方式为水下滑翔器提供导航定位信息。当滑翔器工作于水下时,采用惯性导航和地磁导航组合方式进行导航定位；当滑翔器工作于水面上时可以采用两种方式：一种是惯性导航和卫星导航组合方式,另一种是惯性导航、卫星导航和地磁导航组合方式,为了提高系统的容错性在水面上采用惯性导航、卫星导航和地磁导航组合方式。首先,介绍了组合导航的各个子系统的理论基础和导航定位原理,为系统的导航定位算法设计提供理论依据。其次,对系统中的传感器进行误差建模和标定,通过分析传感器的误差特性,建立相应的误差模型,设计相应的误差校正算法,最终实现误差校正。系统中的传感器包括：陀螺仪、加速度计和磁力计。对于陀螺仪采用了静态八位置和速率实验进行误差校正,对于加速度计采用基于直接最小二乘的椭球拟合算法实现误差校正,对于磁力计提出了基于总体最小二乘直接校正算法。再次,对整个系统的硬件进行设计,根据原理图设计和制作PCB板并进行调试。同时,为系统设计了上位机软件,为系统的数据显示、采集提供有效的工具。然后,对系统的导航定位算法进行研究,针对水下滑翔器的工作特点,设计了相应的组合导航定位算法。主要的组合方式包括：惯性导航和卫星导航组合,惯性导航和地磁导航组合,惯性导航、卫星导航和地磁导航组合。针对每一种组合方式,建立数据融合模型,利用卡尔曼滤波实现数据融合。最后,进行一系列的实验,对系统各部分性能进行验证,包括对传感器校正的实验验证,以及各种组合导航方式的仿真实验验证,同时,也进行了车载实验,利用实际的数据进行实验验证和系统性能评估。总之,本文对水下滑翔器的组合导航定位系统的硬件和软件进行设计,并针对导航系统各部分算法进行研究,包括传感器的误差校正和系统的导航定位算法,进行了大量实验验证,实现了导航定位的功能。
[Abstract]:With the development of science and technology, underwater vehicle is an important tool and means for the exploitation and utilization of marine resources, which plays an important role in both civilian and military fields.Underwater glider is a special underwater submersible which is designed and developed in order to meet the needs of exploration and development of marine resources and monitoring of marine environment by combining the traditional marine buoy technology with underwater submersible technology.Underwater glider is a fully autonomous intelligent underwater submersible which glides according to the preset route and accomplishes the corresponding tasks.In order to make the glider glide according to the predetermined route, it is necessary to provide navigation and positioning information for the glider's attitude adjustment and other control systems in real time, therefore, it needs a stable,Reliable and high precision navigation and positioning system provides navigation and positioning information for glider.In this paper, the underwater inertial navigation is adopted around the working characteristics and requirements of the underwater glider, as well as the complexity of the underwater navigation environment and the lack of information sources.Satellite navigation and geomagnetic integrated navigation and positioning provide navigation and positioning information for underwater glider.When the glider works under water, it uses the combination of inertial navigation and geomagnetic navigation, and when the glider works on the surface of the water, there are two ways: one is the combination of inertial navigation and satellite navigation.The other is inertial navigation, satellite navigation and geomagnetic navigation. In order to improve the fault tolerance of the system, inertial navigation, satellite navigation and geomagnetic navigation are adopted on the water surface.Firstly, the theoretical basis and positioning principle of each subsystem of integrated navigation are introduced, which provides a theoretical basis for the design of navigation algorithm.Secondly, the sensor in the system is modeled and calibrated. By analyzing the error characteristics of the sensor, the corresponding error model is established, the corresponding error correction algorithm is designed, and the error correction is finally realized.Sensors in the system include gyroscopes, accelerometers and magnetometers.For gyroscope, static eight position and rate experiments are used to correct the error, and for accelerometer, the ellipsoid fitting algorithm based on direct least squares is used to correct the error.A direct correction algorithm based on global least squares is proposed for magnetometer.Thirdly, the hardware of the whole system is designed, and the PCB board is designed and debugged according to the schematic diagram.At the same time, the upper computer software is designed for the system, which provides an effective tool for the data display and collection of the system.Then, the navigation and positioning algorithm of the system is studied, and the corresponding integrated navigation algorithm is designed according to the working characteristics of underwater glider.The main methods include inertial navigation and satellite navigation, inertial navigation and geomagnetic navigation, inertial navigation, satellite navigation and geomagnetic navigation.A data fusion model is established for each combination, and Kalman filter is used to realize data fusion.Finally, a series of experiments are carried out to verify the performance of various parts of the system, including the experimental verification of sensor calibration and the simulation of various integrated navigation methods. At the same time, vehicle experiments are also carried out.The actual data are used for experimental verification and system performance evaluation.In a word, the hardware and software of the integrated navigation and positioning system of underwater glider are designed, and the algorithms of every part of the navigation system are studied, including the error correction of sensor and the navigation and positioning algorithm of the system.A large number of experiments have been carried out, and the function of navigation and positioning has been realized.
【学位授予单位】：东南大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U666.11

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