基于实时系统的GPS仿真器设计

发布时间：2018-01-31 05:02

本文关键词： GPS仿真器全球定位系统无人机 NMEA-0183　出处：《沈阳航空航天大学》2016年硕士论文　论文类型：学位论文

【摘要】：近年来,无人机在军用和民事领域得到了快速发展和广泛应用,各国对无人机未来市场愈来愈加重视。在无人机的开发研制过程中,无人机的导航控制系统的半实物仿真已经成为研发过程中不可或缺的一个重要阶段。在飞行控制系统的仿真中,如何模拟无人机在空中的位置信息是整个系统中必须要解决的一个重要问题。因此,本文为解决这一问题设计了GPS仿真器。本文利用现代计算机仿真技术,使用实时仿真机加载动力学模型来模拟无人机的真实飞行,然后深入研究了GPS全球定位系统的原理以及机载GPS接收机的输出数据格式的特点,提出了GPS仿真器系统的组成框架,并详细阐述了框架中各个模块的功能。仿真器的开发设计分为三个部分,分别是航迹生成部分,数据处理部分和通信接口部分。其中航迹生成部分使用了德国dSPACE ds1103实时仿真机作为无人机被控对象,完成了无人机动力学模型建模到实时代码生成的全部过程。仿真定位部分在解析了RINEX原始星历参考数据后,使用Matlab/Simulink建立GPS星座运动模型并进行实时解算在轨星座位置,并根据航迹生成模块解算出的无人机位置进行可见星判断,最佳可见星选择等相关参数的计算。通信接口部分完成了基于S-Function的串口通信程序设计,并且按照GPGGA和GPRMC协议语句将数据处理部分计算得到的相关参数进行封装,然后通过RS232串口发送给导航控制系统。
[Abstract]:In recent years, unmanned aerial vehicle (UAV) has been rapidly developed and widely used in the military and civilian fields. Many countries pay more and more attention to the future market of UAV. The hardware-in-the-loop simulation of UAV navigation control system has become an indispensable stage in the research and development process. How to simulate the position information of UAV in the air is an important problem that must be solved in the whole system. Therefore, a GPS simulator is designed to solve this problem. The loading dynamics model of real-time simulator is used to simulate the real flight of UAV. Then the principle of GPS GPS and the characteristics of the output data format of airborne GPS receiver are studied. The structure of GPS simulator system is proposed, and the functions of each module in the framework are described in detail. The development and design of the simulator is divided into three parts, which are the track generation part. The data processing part and the communication interface part. The track generation part uses the German dSPACE ds1103 real-time simulator as the UAV controlled object. The whole process of UAV dynamic model modeling and real-time code generation is completed. After analyzing the RINEX original ephemeris reference data, the simulation positioning part. The motion model of GPS constellation is established by Matlab/Simulink, and the position of constellation in orbit is calculated in real time, and the visible star is judged according to the position of UAV calculated by track generation module. The design of serial port communication program based on S-Function is completed in the communication interface part. And according to the GPGGA and GPRMC protocol statements, the data processing part of the calculation of the relevant parameters are encapsulated, and then sent to the navigation control system through the RS232 serial port.
【学位授予单位】：沈阳航空航天大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V279;TP391.9

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