地磁辅助惯性导航系统研究
发布时间：2018-08-24 12:06
【摘要】：随着地磁导航理论的发展和地磁测量技术的进步，地磁导航优势日益突出，作为一种全新的无源导航方式，地磁导航实现可以实现全天候、高精度的自主导航。地磁匹配导航与惯性导航组成的导航系统，可以克服惯性导航误差随时间积累的缺点，实现长时间的高精度导航。以此为背景，本文对地磁辅助惯性导航系统进行了分析研究。 惯性导航系统是地磁辅助惯性组合导航系统的基础，本文首先对捷联式惯性导航系统的原理进行了简要介绍，分析了姿态更新、速度更新和位置更新算法。讨论了惯性器件数据仿真方法并对利用仿真结果对捷联惯性导航系统进行仿真验证，为地磁辅助惯性导航系统的研究奠定了基础。 地磁匹配技术是地磁辅助惯性导航系统的关键，为此，本文对世界地磁参考场模型的计算和地磁匹配算法进行了研究，，讨论了常用地磁匹配技术的使用条件以及局限性。针对MAGCOM地磁匹配算法在指示路径存在航向误差时匹配精度低的缺点，提出了带有衰减因子的MAGCOM地磁匹配算法，仿真表明，该算法有效提高了MAGCOM地磁匹配算法的精度。 对地磁辅助惯性组合导航技术进行了研究，在惯性导航误差模型的基础上，完成了地磁匹配辅助惯性导航的卡尔曼滤波器的设计，并通过模糊控制理论，改善了卡尔曼滤波的性能，建立了基于模糊自适应卡尔曼滤波的地磁辅助惯性导航系统。仿真表明，惯性导航误差可以被地磁辅助惯性导航系统有效抑制。 最后，在静态单轴磁场条件下对地磁导航进行了测试，验证了地磁辅助惯性导航系统的可行性和正确性。同时，为了今后地磁导航半实物仿真的进一步深入研究，本文设计了三轴动态地磁导航半实物仿真实验系统，并完成了地磁信号采集卡的软硬件设计，为进行三轴动态地磁导航半实物仿真实验提供了条件。
[Abstract]:With the development of geomagnetic navigation theory and the progress of geomagnetic measurement technology, geomagnetic navigation advantages become increasingly prominent. As a new passive navigation mode, geomagnetic navigation can realize all-weather and high-precision autonomous navigation. The navigation system composed of geomagnetic matching navigation and inertial navigation can overcome the shortcoming of inertial navigation error accumulation with time and realize long time high precision navigation. Based on this background, the geomagnetic aided inertial navigation system is analyzed and studied in this paper. Inertial navigation system is the basis of geomagnetic assistant inertial integrated navigation system. Firstly, the principle of strapdown inertial navigation system is introduced briefly, and the algorithms of attitude updating, velocity updating and position updating are analyzed. The simulation method of inertial device data is discussed and the simulation results are used to verify the strapdown inertial navigation system, which lays a foundation for the research of geomagnetic aided inertial navigation system. Geomagnetic matching technology is the key of geomagnetic aided inertial navigation system. In this paper, the calculation of geomagnetic reference field model and geomagnetic matching algorithm are studied, and the application conditions and limitations of geomagnetic matching techniques are discussed. In view of the shortcoming of MAGCOM geomagnetic matching algorithm with heading error, a MAGCOM geomagnetic matching algorithm with attenuation factor is proposed. The simulation results show that the algorithm can effectively improve the precision of MAGCOM geomagnetic matching algorithm. Based on the error model of inertial navigation, the Kalman filter for geomagnetic matching inertial navigation is designed, and the fuzzy control theory is adopted. The performance of Kalman filter is improved, and a geomagnetic aided inertial navigation system based on fuzzy adaptive Kalman filter is established. Simulation results show that the inertial navigation error can be effectively suppressed by geomagnetic aided inertial navigation system. Finally, the geomagnetic navigation system is tested under the condition of static uniaxial magnetic field, which verifies the feasibility and correctness of the geomagnetic aided inertial navigation system. At the same time, in order to further study the simulation of geomagnetic navigation in the future, this paper designs a three-axis dynamic geomagnetic navigation hardware-in-the-loop simulation experimental system, and completes the design of the hardware and software of the geomagnetic signal acquisition card. The condition is provided for the simulation experiment of three axis dynamic geomagnetic navigation.
【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】：2014
【分类号】：TN96.2
本文编号：2200776
[Abstract]:With the development of geomagnetic navigation theory and the progress of geomagnetic measurement technology, geomagnetic navigation advantages become increasingly prominent. As a new passive navigation mode, geomagnetic navigation can realize all-weather and high-precision autonomous navigation. The navigation system composed of geomagnetic matching navigation and inertial navigation can overcome the shortcoming of inertial navigation error accumulation with time and realize long time high precision navigation. Based on this background, the geomagnetic aided inertial navigation system is analyzed and studied in this paper. Inertial navigation system is the basis of geomagnetic assistant inertial integrated navigation system. Firstly, the principle of strapdown inertial navigation system is introduced briefly, and the algorithms of attitude updating, velocity updating and position updating are analyzed. The simulation method of inertial device data is discussed and the simulation results are used to verify the strapdown inertial navigation system, which lays a foundation for the research of geomagnetic aided inertial navigation system. Geomagnetic matching technology is the key of geomagnetic aided inertial navigation system. In this paper, the calculation of geomagnetic reference field model and geomagnetic matching algorithm are studied, and the application conditions and limitations of geomagnetic matching techniques are discussed. In view of the shortcoming of MAGCOM geomagnetic matching algorithm with heading error, a MAGCOM geomagnetic matching algorithm with attenuation factor is proposed. The simulation results show that the algorithm can effectively improve the precision of MAGCOM geomagnetic matching algorithm. Based on the error model of inertial navigation, the Kalman filter for geomagnetic matching inertial navigation is designed, and the fuzzy control theory is adopted. The performance of Kalman filter is improved, and a geomagnetic aided inertial navigation system based on fuzzy adaptive Kalman filter is established. Simulation results show that the inertial navigation error can be effectively suppressed by geomagnetic aided inertial navigation system. Finally, the geomagnetic navigation system is tested under the condition of static uniaxial magnetic field, which verifies the feasibility and correctness of the geomagnetic aided inertial navigation system. At the same time, in order to further study the simulation of geomagnetic navigation in the future, this paper designs a three-axis dynamic geomagnetic navigation hardware-in-the-loop simulation experimental system, and completes the design of the hardware and software of the geomagnetic signal acquisition card. The condition is provided for the simulation experiment of three axis dynamic geomagnetic navigation.
【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】：2014
【分类号】：TN96.2
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