基于偏振光辅助定向的车辆自主式导航方法研究

发布时间：2018-04-25 16:05

本文选题：天空偏振光 + 车辆动态数学模型　；参考：《南昌大学》2015年硕士论文

【摘要】：针对有源导航电波受干扰失效的特殊战争环境下陆地作战车辆无源自主导航问题,自主式导航定位技术是保证载体在特殊环境下能够进行可靠的自主、无源、高精度导航和定位的关键。本文针对该技术问题参考国内外研究成果和经验,采用车载捷联惯导系统作为基本导航传感器,借助于其他外部信息补偿修正技术,应用多源信息融合处理方法来提高改善自主导航定位系统的性能,展开了以下一系列研究工作。首先,对大气偏振光特性及其相关的仿生偏振光导航技术、车辆运动学模型和非完整约束条件等技术进行了分析研究。考虑对载体航向测量和控制至关重要的陆地车辆自主无源导航应用需求,利用大气偏振模式所蕴含的方位特性,结合运动车辆的导航传感器配置准则,构建了车辆仿生偏振光导航定向方法。考虑低成本精度高、集成度好、抗干扰能力强的车载导航技术研制需求,研究构建了一种采用车载捷联惯导系统作为基本导航传感器,不增加额外绝对传感器,仅应用车辆运动学模型和非完整约束条件共同来辅助惯导系统的有效方案。对研究的方法和方案分别进行了系统性能仿真测试验证,并给出了详细的结果数据分析。其次,为了提高目前车载捷联惯导系统车辆运动学模型辅助算法的导航定位精度,并保证系统的无源性和抗干扰自主导航的能力,基于研究构建的车辆偏振光导航测角定向方法,利用其输出得到车辆的航向信息,结合车辆自身的动态数学模型提供的虚拟位置与速度观测量,与车载捷联惯性导航系统所获得的导航信息一起,通过设计多源信息融合算法,对其进行有效合理的配置,利用数学方法对其系统方程进行建模。最后,结合组合系统导航模型,根据车载应用环境的特性,制定系统的总体仿真测试框架,包括车辆轨迹建模、仿真环境搭建、对比仿真及仿真结果数据分析。根据仿真测试结果分析,验证设计的仿真平台结构配置的合理性,并据此对信息融合等实施方案进行优化。总体上,构建了一种具有强自主性、隐蔽性好、抗干扰的无源导航系统,可实现陆地车辆精确可靠的自主导航定位。
[Abstract]:In order to solve the problem of passive autonomous navigation of land combat vehicles in the special war environment where the active navigation wave is disturbed, autonomous navigation and positioning technology is to ensure that the carrier can carry out reliable autonomous and passive navigation under special environment. The key to high precision navigation and positioning. In this paper, referring to the domestic and international research results and experience, this paper uses the vehicle Strapdown Inertial Navigation system as the basic navigation sensor, with the help of other external information compensation and correction technology. Multi-source information fusion is used to improve the performance of autonomous navigation and positioning system. Firstly, the characteristics of atmospheric polarized light and its related bionic polarized light navigation technology, vehicle kinematics model and nonholonomic constraints are analyzed and studied. Taking into account the requirements of autonomous passive navigation applications of land vehicles, which are crucial to vehicle heading measurement and control, and taking advantage of the azimuth characteristics contained in the atmospheric polarization mode, combined with the navigation sensor configuration criteria of moving vehicles, The vehicle bionic polarized light navigation method is constructed. Considering the requirements of the development of vehicle navigation technology with high cost, high integration and strong anti-jamming ability, a vehicle strapdown inertial navigation system is studied and constructed without adding additional absolute sensors. Only the vehicle kinematics model and nonholonomic constraints are used to assist the ins. The methods and schemes are tested and verified by simulation, and the results are analyzed in detail. Secondly, in order to improve the navigation accuracy of the vehicle kinematics model assistant algorithm of vehicle strapdown navigation system, and ensure the passive and anti-jamming autonomous navigation ability of the system, Based on the research and construction of vehicle polarized light navigation angle-orientation method, the vehicle heading information is obtained by using its output, combined with the virtual position and velocity observation provided by the vehicle's own dynamic mathematical model. Along with the navigation information obtained from the vehicle strapdown inertial navigation system, the multi-source information fusion algorithm is designed, which is effectively and reasonably configured, and the system equation is modeled by mathematical method. Finally, combined with the integrated system navigation model, according to the characteristics of vehicle application environment, the overall simulation and testing framework of the system is developed, including vehicle trajectory modeling, simulation environment building, contrast simulation and simulation results data analysis. According to the analysis of the simulation test results, the rationality of the structure configuration of the designed simulation platform is verified, and the information fusion scheme is optimized accordingly. In general, a passive navigation system with strong autonomy, good concealment and anti-interference is constructed, which can realize accurate and reliable autonomous navigation and positioning of land vehicles.
【学位授予单位】：南昌大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：U463.67;U495

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