捷联惯导系统综合校正技术研究

发布时间：2018-04-26 16:22

本文选题：捷联惯导 + 综合校正　；参考：《哈尔滨工程大学》2014年硕士论文

【摘要】：由于捷联惯导系统将传感器直接固定在载体上,在载体机动,尤其是恶劣的机动环境下,会产生极其严重的动态误差,进而随时间的增长定位误差积累,长时间运行时不能提供需要的足够精确的导航与定位,因此,要对现在装备的捷联惯导系统进行改进,以满足实际需要。本文提出组合式捷联惯导系统综合校正方式,用以提高系统的可靠性和导航定位精度,并探索进一步提高系统的定位准确度、减少系统误差的方法。本文分为五章,主要对以下四个方面的内容进行展开:首先,论文分析并解释了捷联惯导系统的基本原理,列写其基本方程及算法方程。按照捷联惯导系统各模块运算方框图的各个方面进行算法设计;分析了系统产生的误差,列写误差方程;并对惯导系统进行粗、精对准设计及其仿真,之后设计了仿真程序框图,编写了仿真程序,进行了惯性导航系统的仿真,并进行了分析,验证了程序的正确性与可用性。其次,深入剖析了两点校、三点校和点点校的校正方法,通过对这些传统综合校正的误差进行分析以及计算机仿真,说明了该传统的综合校正不仅对外部信息要求苛刻,而且要求船舶匀速直航,限制了综合校正的使用范围,因此有必要研究船舶在任意机动状态时都可以进行综合校正的方法。再次,提出了一种组合式卡尔曼综合校正方式,并对该组合式综合校正进行了设计与分析验证。分析仿真结果,证明该种组合式综合校正方法的正确性与适用性,可以作为舰船在任意机动状态下进行综合校正选择使用。最后,在组合式综合校正的基础上探索进一步减少系统误差的方法,对旋转捷联式惯导系统进行综合校正的算法设计及其仿真,并进行了分析,确保了理论的正确性。并进行了静态条件下的综合校正方法的试验,证明了该捷联惯导系统综合校正方案的实用性。
[Abstract]:Because the strapdown inertial navigation system immobilizes the sensor directly on the carrier, it will produce extremely serious dynamic error in the carrier maneuvering, especially in the bad maneuvering environment, and then accumulate the positioning error with the increase of time. Long time operation can not provide enough accurate navigation and positioning, so the strapdown inertial navigation system should be improved to meet the actual needs. In this paper, a comprehensive correction method of combined strapdown inertial navigation system is proposed to improve the reliability of the system and the accuracy of navigation and positioning, and to explore ways to further improve the positioning accuracy of the system and to reduce the system error. This paper is divided into five chapters, which mainly focus on the following four aspects: firstly, the basic principles of sins are analyzed and explained, and the basic equations and algorithm equations are listed and written. The algorithm is designed according to the operation block diagram of every module of sins, the errors produced by the system are analyzed, the error equations are listed, and the coarse, fine alignment design and simulation of the inertial navigation system are carried out. Then, the block diagram of simulation program is designed, the simulation program is written, the simulation of inertial navigation system is carried out, and the correctness and availability of the program are verified. Secondly, the correction methods of two-point correction, three-point correction and point-point correction are deeply analyzed. Through the analysis of the errors of these traditional comprehensive corrections and the computer simulation, it is shown that the traditional comprehensive correction is not only demanding on external information. Moreover, it is necessary to study the method of comprehensive correction for ships in any maneuvering state because of the requirement of uniform speed and direct navigation, which limits the range of application of synthetic correction. Thirdly, a combined Kalman synthesis correction method is proposed, and the combined integrated correction is designed and analyzed. The simulation results show that the combined correction method is correct and applicable, and it can be used as a comprehensive correction choice for ships under arbitrary maneuvering conditions. Finally, on the basis of combined synthesis correction, the method of further reducing system error is explored, and the algorithm design and simulation of integrated correction for rotary strapdown inertial navigation system are carried out, and the correctness of the theory is ensured. The test of the synthetic correction method under static condition proves the practicability of the integrated correction scheme of the strapdown inertial navigation system.
【学位授予单位】：哈尔滨工程大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TN96

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