GPS辅助的车载自主定位定向系统研究

发布时间：2018-05-25 17:00

本文选题：车载定位定向 + 捷联导航算法　；参考：《哈尔滨工业大学》2016年硕士论文

【摘要】：车载定位定向技术是陆基导航上的关键技术,通过车上导航系统在载车运载中精确提供运载体的地理位置信息及方位角信息,为载体运动提供参考基准。高精度的车载定位定向系统为载车的高机动性提供保证,已然成为各国陆军军备重要一环。捷联惯导系统单独运行中会出现位置误差的发散等问题,因而需要通过算法或者通过组合导航进行修正,实现较高的导航精度。主要研究工作为:首先,针对捷联惯导算法进行研究。首先定义了本文中应用的坐标系定义并对相互转换关系作了探讨,之后分别分析了捷联惯导姿态更新算法的等效旋转矢量算法及其圆锥运动状态下的优化算法、捷联惯导速度更新算法及其划船效应补偿算法、捷联惯导位置更新算法,构成整个捷联惯导系统的导航更新算法部分;其次,研究捷联惯性组件的标定技术,首先阐述了加速度计和陀螺仪的标定原理,然后针对加速度计组件安装矩阵及零偏进行十二位置试验法测试试验,针对陀螺仪组件安装矩阵及零偏进行角位置法标定试验,为导航系统提供必要的参数数据;第三,进行了捷联惯组初始对准方法的研究,将平台惯导系统的罗经对准算法移植到捷联惯导系统中,构建了捷联罗经对准回路,采用基于逆向捷联算法和逆向罗经对准的快速罗经对准算法,对试验数据进行反复挖掘,在保证精度的基础上,缩短了对准时间,完成了车载定向定位系统捷联子系统初始矩阵的确定;第四,论述捷联惯导系统的误差分析和修正,推导了捷联惯导系统的误差方程,针对捷联惯导系统的位置误差发散问题,设计了基于卡尔曼滤波器的零速修正和GPS/SINS组合导航卡尔曼滤波器,对发散的位置误差进行抑制;最后,编写GPS接收机的配置和接收软件,进行了实验室导航试验和跑车导航试验,对本文的导航算法进行验证。本文的主要创新点在于自主设计并实现了标定、对准、导航算法、误差修正为一体的导航系统设计,独立编写了基于VC的GPS导航的数据采集程序,构建了高精度的车载定位定向系统体系。
[Abstract]:The vehicle positioning and orientation technology is the key technology of land based navigation. Through the navigation system on the vehicle, the location information and azimuth information of the carrier are provided accurately. The high precision vehicle positioning and orientation system provides a guarantee for the high mobility of the vehicle. It has already become the Army Armament of all countries. The main research work is: first, to study the sins algorithm. First, the definition of the coordinate system used in this paper is defined and the phase is defined. The mutual conversion relationship is discussed. Then, the equivalent rotation vector algorithm of SINS Attitude Updating Algorithm and the optimization algorithm under conical motion are analyzed respectively. The sins speed updating algorithm and its rowing effect compensation algorithm and the sins position updating algorithm constitute the navigation updating algorithm part of the whole strapdown inertial navigation system. Secondly, the calibration technology of strapdown inertial components is studied. First, the calibration principle of accelerometers and gyroscopes is expounded. Then, the twelve position test test is carried out for the installation matrix and zero bias of the accelerometer component, and the calibration test of the gyroscope component installation matrix and zero bias is carried out to provide the necessary reference for the navigation system. Third, the initial alignment method of strapdown inertial navigation system is studied, the compass alignment algorithm of the platform inertial navigation system is transplanted into the strapdown inertial navigation system, the alignment loop of the strapdown compass is constructed, and the fast compass alignment algorithm based on the reverse strapdown algorithm and the reverse compass alignment is used, and the experimental data are repeatedly excavated to ensure the precision. On the basis of the degree, the alignment time is shortened, and the initial matrix of the strapdown subsystem of the vehicle orientation positioning system is determined. Fourth, the error analysis and correction of the sins are discussed and the error equation of the sins is derived. The zero error divergence problem of the sins is designed based on the Calman filter. The speed correction and GPS/SINS integrated navigation Calman filter can suppress the divergent position error. Finally, the configuration and receiving software of the GPS receiver are written, the laboratory navigation test and the sports vehicle navigation test are carried out. The navigation algorithm of this paper is verified. The main new point of this paper is the independent design and implementation of calibration, alignment and guidance. The navigation system is designed for navigation algorithm and error correction. A data acquisition program based on VC based GPS navigation is compiled independently, and a high precision vehicle positioning and orientation system system is constructed.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U463.67

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