GNSS接收机与惯导深耦合技术研究

发布时间：2018-04-16 12:06

本文选题：深耦合 + 深耦合跟踪环路　；参考：《电子科技大学》2013年硕士论文

【摘要】：随着全球定位系统(GPS)的广泛使用，卫星导航系统(GNSS)已经非常成熟并且成为了现在各国主要的导航技术发展方向，但它不能为用户提供连续的位置和速度信息、易受屏蔽和外界干扰等缺点对其使用及发展产生了限制，，而单独的惯性导航系统(INS)又存在误差随时间快速积累的缺陷。因此，拥有缺陷互补特点的GNSS/INS组合导航系统进入了各国研究人员的视线，其中GNSS接收机与惯导深耦合技术的研究已经成为了研究的重点方向。首先，本文介绍了GNSS/INS深耦合系统的发展历史与研究现状，然后从GNSS/INS深耦合系统的结构入手，对深耦合系统的特性、优势和缺陷进行了分析，并且提出了GNSS接收机与惯导深耦合技术研究的两个关键问题：深耦合跟踪环路以及深耦合系统中的信息融合算法。然后，针对常规深耦合跟踪环路中高动态和弱信号性能提升不足，全矢量深耦合跟踪环路实现成本高、应用范围不广的缺点，本文提出了一种半矢量深耦合跟踪环路，该结构与常规深耦合跟踪环路相比提高了环路的高动态性能和弱信号性能，与全矢量深耦合跟踪环路相比降低了其实现成本。接着，本文对深耦合系统中的信息融合算法进行了分析，针对深耦合系统中模型非线性、建模不精确、噪声统计特性未知、以及计算过程中的舍入误差导致滤波发散等问题，在模糊自适应强跟踪扩展卡尔曼滤波算法的基础上提出了一种模糊自适应强跟踪平方根无迹卡尔曼滤波算法，该算法提高了深耦合系统的导航精度和稳健性。最后，为了更好地对深耦合系统中不同的深耦合跟踪环路以及不同的信息融合算法进行研究，本文设计并搭建了一种GNSS/INS深耦合系统，该系统能够模拟整个深耦合系统中的数据生成和处理过程，并且能够处理采集到的真实数据，为后续的研究提供了基础。
[Abstract]:With the wide use of GPS (Global Positioning system), GNSS (Satellite Navigation system) has been very mature and has become the main navigation technology in various countries, but it can not provide users with continuous position and speed information.Its use and development are restricted by its disadvantages such as being easily shielded and interfered with by the outside world. However, the single inertial navigation system (ins) has the defect of accumulating errors rapidly over time.Therefore, the GNSS/INS integrated navigation system with complementary defects has entered the sight of researchers all over the world. Among them, the study of GNSS receiver and inertial navigation deep coupling technology has become the focus of research.Firstly, this paper introduces the development history and research status of GNSS/INS deep coupling system, and then starts with the structure of GNSS/INS deep coupling system, analyzes the characteristics, advantages and disadvantages of deep coupling system.Two key problems in the research of deep coupling technology between GNSS receiver and inertial navigation system are presented: the deep coupling tracking loop and the information fusion algorithm in the deep coupling system.Then, aiming at the shortcomings of high dynamic and weak signal performance improvement in conventional deep coupling tracking loop, high cost of full vector deep coupling tracking loop and limited application scope, a semi-vector deep coupling tracking loop is proposed in this paper.Compared with the conventional deep coupling tracking loop, the structure improves the high dynamic performance and weak signal performance of the loop, and reduces its implementation cost compared with the full vector deep coupling tracking loop.Then, this paper analyzes the information fusion algorithm in the deep coupling system, aiming at the nonlinear model, imprecise modeling, unknown statistical characteristics of noise, and the filtering divergence caused by rounding error in the calculation process.Based on the extended Kalman filter algorithm of fuzzy adaptive strong tracking, a fuzzy adaptive strong tracking square root unscented Kalman filter algorithm is proposed, which improves the navigation accuracy and robustness of the deep coupling system.Finally, in order to better study the different deep coupling tracking loops and different information fusion algorithms in the deep coupling system, a GNSS/INS deep coupling system is designed and built in this paper.The system can simulate the process of data generation and processing in the whole deep coupling system, and can process the collected real data, which provides the basis for further research.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：P228.4

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