基于DSP的某型卫星导航计算机信息处理系统设计

发布时间：2018-04-24 15:06

本文选题：卫星导航 + 计算机信息处理　；参考：《电子科技大学》2013年硕士论文

【摘要】：现代卫星导航对导航系统的精度和可靠性提出了越来越高的要求，由于固有的缺点，卫星导航系统无法单独满足多种指标，而采用组合导航技术正好可以弥补这一缺陷。惯性导航系统（INS）和以全球定位系统(GPS)为代表的星基定位系统有着很强的互补性，这在众多导航系统中，是一种优秀的组合系统，也一直是组合导航技术研究领域中的热点。同时数字信号处理器（DSP）提高了系统效率和速度，，专注于复杂的导航解算，基于微处理器的捷联惯性导航(SINS)和全球定位系统(GPS)的组合导航系统的设计，成为目前研究的一个热点。论文研究基于DSP（digital signal processor，数字信号处理器）的某型卫星导航计算机信息处理系统，设计硬件系统解决方案，从两个子系统定位原理出发，建立了GPS/INS组合系统误差模型基础上，程序实现GPS/INS位置速度组合，结果证实了算法的可行性。论文在硬件方面，采用高精度AD转换器件，同时完成整个外围接口的逻辑关系，实现串口功能，设计硬件电路。在软件方面，重点对系统采集的动态GPS数据处理、INS/GPS松组合滤波进行研究。1）围绕GPS动态定位及测速数学模型，针对GPS定位观测值及误差特性，给出了在动态精密单点定位中各项误差的处理策略，探讨使用载波相位进行精密定位中常见几种数据预处理方法及程序实现流程。2）对SINS/GPS组合方案，相关理论做了较为深入系统的分析讨论。从卡尔曼滤波状态方程入手，采用参数微分的方法分析和建立子系统的误差模型，分析并优化了IMU器件误差模型，设计了15维卡尔曼滤波器。卡尔曼滤波更新需要两个子系统信息匹配，涉及到时空基准问题，则研究了SINS/GPS组合系统的时空基准统一问题。在此基础上，研究了卡尔曼滤波算法，对连续线性动态系统方程需要离散化，实际中才能进行数值计算。研究了两种校正方法，对于中低精度的IMU（Inertial Measurement Unit，惯性测量单元）设备，应当选用反馈校正。
[Abstract]:The accuracy and reliability of the navigation system are required more and more by modern satellite navigation. Because of the inherent shortcomings, the satellite navigation system can not meet a variety of indicators alone, and the integrated navigation technology can make up for this defect. Inertial navigation system (ins) and satellite positioning system (GPS) are highly complementary, which is an excellent integrated system in many navigation systems, and has always been a hot spot in the field of integrated navigation technology. At the same time, digital signal processor (DSP) improves the efficiency and speed of the system, and focuses on the complex navigation solution. The design of integrated navigation system based on microprocessor sins and GPS has become a hot topic. In this paper, a satellite navigation computer information processing system based on DSP(digital signal processor is studied. The hardware system solution is designed. Based on the positioning principle of two subsystems, the error model of GPS/INS integrated system is established. The program realizes the combination of GPS/INS position and velocity, and the result proves the feasibility of the algorithm. In the aspect of hardware, the high precision AD converter is adopted, the logic relation of the whole peripheral interface is completed, the function of serial port is realized, and the hardware circuit is designed. In the aspect of software, the dynamic GPS data processing (ins / P / GPS loosely integrated filter) collected by the system is studied. 1) around the dynamic positioning and velocity measurement mathematical model of GPS, the observed values and error characteristics of GPS positioning are analyzed. In this paper, the processing strategies of errors in dynamic precise single point positioning are given, and several common data preprocessing methods and program realization flow. 2) for SINS/GPS combination are discussed. The related theories are analyzed and discussed deeply and systematically. Starting with the Kalman filter equation of state, the error model of the subsystem is analyzed and established by using the method of parameter differentiation, the error model of IMU device is analyzed and optimized, and a 15-dimensional Kalman filter is designed. Kalman filter updating requires two subsystems to match information, which is related to the space-time reference problem, then the spatio-temporal reference unification problem of SINS/GPS composite system is studied. On this basis, the Kalman filtering algorithm is studied. The equations of continuous linear dynamic system need to be discretized before the numerical calculation can be carried out in practice. In this paper, two correction methods are studied. Feedback correction should be used for IMU(Inertial Measurement unit (inertial measurement unit) equipment with low accuracy.
【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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