基于双GPS_INS组合导航关键技术研究

发布时间：2018-11-04 14:28

【摘要】：导航系统对于飞行器的定位及控制来说起着重要的作用，而组合导航技术是提高导航精度的有效途径，其中GPS_INS组合导航是目前组合导航技术发展的主要方向。本文开展了对双GPS_INS组合导航系统的研究工作，研究目的是提高导航精度，能够输出定位信息及姿态角信息，包括经度、纬度、高度；偏航角、俯仰角、横滚角，，重点研究组合导航的关键技术，并设计合理的实现方案。首先，研究论文的选题背景及目的和意义，确定本文的主要研究内容和工作安排，从整体结构方面设计了传感器与处理器之间的通信接口，处理器中的控制程序等，针对研究内容，以理论和实践相结合为前提，完成了实验系统的搭建。其次，本文以紧耦合方式进行组合导航，推导出了双GPS相对伪距差分定位的数学模型及INS导航的数学模型，选择卡尔曼滤波器为组合导航数据融合的主要方式。在分析了卡尔曼滤波器的常见模型的基础上，推导出了双GPS_INS的组合导航系统的数学模型，并改进设计了区间自适应卡尔曼滤波器，提高了组合导航的精度。再次，设计了基于LabVIEW的组合导航系统的软件平台，软件可对系统的姿态角及载体的定位信息进行实时的波形及数字显示，并设置了姿态角的阈值报警功能，对监测到的导航信息可以有选择的进行数据存储。最后对系统进行调试并得出结论。组合导航系统的测量精度要比单独使用GPS或者INS导航精度高且稳定；双GPS与INS进行组合导航的精度要比单GPS与INS进行组合导航高且稳定；区间自适应算法及卡尔曼滤波器要比普通算法和普通卡尔曼滤波器的效果要好，可以消弱很多模型及测量误差。
[Abstract]:Navigation system plays an important role in the positioning and control of aircraft, and integrated navigation technology is an effective way to improve navigation accuracy, among which GPS_INS integrated navigation is the main direction of integrated navigation technology development. In this paper, the research work of dual GPS_INS integrated navigation system is carried out. The purpose of the research is to improve the navigation accuracy and to output positioning information and attitude angle information, including longitude, latitude and altitude. Yaw angle, pitch angle, roll angle, the key technology of integrated navigation are studied, and a reasonable scheme is designed. Firstly, the background, purpose and significance of the thesis are studied, the main research contents and working arrangements are determined, the communication interface between the sensor and the processor, the control program in the processor and so on are designed from the overall structure. Aiming at the research content, the experimental system is built on the premise of combining theory with practice. Secondly, in this paper, the mathematical model of dual GPS relative pseudo-range differential positioning and the mathematical model of INS navigation are derived, and the Kalman filter is selected as the main method of data fusion in integrated navigation. Based on the analysis of the common models of Kalman filter, the mathematical model of dual GPS_INS integrated navigation system is derived, and the interval adaptive Kalman filter is improved to improve the accuracy of integrated navigation. Thirdly, the software platform of integrated navigation system based on LabVIEW is designed. The software can display the attitude angle of the system and the positioning information of the carrier in real time, and set the threshold alarm function of the attitude angle. The monitored navigation information can be stored selectively. Finally, the system is debugged and concluded. The accuracy of integrated navigation system is higher and more stable than that of single GPS or INS navigation system, and the precision of double GPS and INS integrated navigation system is higher and more stable than that of single GPS and INS integrated navigation system. The effect of interval adaptive algorithm and Kalman filter is better than that of ordinary algorithm and Kalman filter, and many model and measurement errors can be reduced.
【学位授予单位】：燕山大学
【学位级别】：硕士
【学位授予年份】：2013
【分类号】：TN96.2;P228.4

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