基于格网坐标系的极区惯性导航与组合导航算法研究
发布时间：2018-09-17 14:05
【摘要】：随着对地球资源的开发利用,极地地区不再被视为成为人类探索的“禁区”,其丰富的资源吸引着各国的目光。但由于极地地区特殊的地理位置和自然环境,传统意义上的惯性导航系统不再适用于极区导航,因而如何在极区安全有效的进行导航被提上日程。为解决这一问题,现有的文献资料都倾向于采用特殊的惯性导航算法编排来加以实现,比如:游动坐标系算法编排,逆坐标系算法编排与格网坐标系算法编排等。同时,受客观条件的限制,获得真实的极区实验数据十分困难,所以极区惯性导航系统研究多在纯数学仿真条件下进行,这难以反映实际动态环境。针对上述问题,本文以格网坐标系作为参考坐标系,并以此为基础对格网惯性导航系统算法编排进行完善以及对旋转调制算法进行研究。同时,本文完成格网惯性导航系统下的误差模型推导,并结合里程计(Odometer ODO)与全球定位系统(Global Positioning System GPS)这两种导航方式进行低纬度下的组合导航实验验证。为解决极区下导航算法验证多采用纯数学手段这一难题,本文设计了纬度增量法和轨迹旋转法两套方案对低纬度下实际实验数据进行转换,并获得极区仿真实验数据。最后,采用极区仿真实验数据对基于格网坐标系下的旋转调制误差特性以及组合导航进行实验验证。论文主要进行了以下几个方面的研究工作:1.第二章以网惯性导航系统算法编排为基础,对格网坐标系下旋转调制误差特性进行分析。2.第三章对格网惯性导航系统下的误差模型进行推导,并结合ODO,GPS两种导航手段进行格网坐标系下的组合导航研究。3.第四章设计了纬度增量法和轨迹旋转法两套数据转换方案,用以将低纬度下实际实验数据转换成极区仿真实验数据。4.根据极区仿真实验数据,第四章进行极区旋转调制误差特性分析以及极区组合导航方面的实验验证。
[Abstract]:With the development and utilization of the earth's resources, the polar regions are no longer regarded as "forbidden zones" for human exploration, and their rich resources attract the attention of all countries. However, due to the special geographical location and natural environment in polar regions, the traditional inertial navigation system is no longer suitable for polar navigation, so how to conduct navigation safely and effectively in polar regions has been put on the agenda. In order to solve this problem, the existing literature tends to use special inertial navigation algorithm arrangement, such as: swimming coordinate system algorithm arrangement, inverse coordinate system algorithm arrangement and grid coordinate system algorithm arrangement, etc. At the same time, due to the limitation of objective conditions, it is very difficult to obtain real polar experimental data, so the study of polar inertial navigation system is mostly carried out under pure mathematical simulation conditions, which is difficult to reflect the actual dynamic environment. In order to solve the above problems, this paper takes the grid coordinate system as the reference coordinate system, based on which the algorithm arrangement of the grid inertial navigation system is improved and the rotation modulation algorithm is studied. At the same time, the error model of grid inertial navigation system is deduced in this paper, and combined with the two navigation modes of the mileage meter (Odometer ODO) and the global positioning system (Global Positioning System GPS), the integrated navigation experiments at low latitudes are carried out. In order to solve the problem of using pure mathematics in the verification of navigation algorithm under polar region, this paper designs two schemes, latitude increment method and trajectory rotation method, to convert the actual experimental data at low latitude, and obtain the experimental data of polar region simulation. Finally, the rotation modulation error characteristics based on grid coordinate system and the integrated navigation are verified by polar simulation experiment data. The thesis mainly carries on the following several aspects of research work: 1. In the second chapter, based on the algorithm arrangement of grid inertial navigation system, the error characteristics of rotation modulation in grid coordinate system are analyzed. In the third chapter, the error model of grid inertial navigation system is deduced, and combined with ODO,GPS two navigation methods, the research of integrated navigation in grid coordinate system. 3. In the fourth chapter, two sets of data conversion schemes are designed, I. E. latitude increment method and trajectory rotation method, which are used to convert the actual experimental data into polar simulation experimental data at low latitudes. According to the experimental data of polar region simulation, in chapter 4, the error characteristics of polar rotation modulation and the experimental verification of polar integrated navigation are analyzed.
【学位授予单位】：国防科学技术大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TN96
本文编号：2246160
[Abstract]:With the development and utilization of the earth's resources, the polar regions are no longer regarded as "forbidden zones" for human exploration, and their rich resources attract the attention of all countries. However, due to the special geographical location and natural environment in polar regions, the traditional inertial navigation system is no longer suitable for polar navigation, so how to conduct navigation safely and effectively in polar regions has been put on the agenda. In order to solve this problem, the existing literature tends to use special inertial navigation algorithm arrangement, such as: swimming coordinate system algorithm arrangement, inverse coordinate system algorithm arrangement and grid coordinate system algorithm arrangement, etc. At the same time, due to the limitation of objective conditions, it is very difficult to obtain real polar experimental data, so the study of polar inertial navigation system is mostly carried out under pure mathematical simulation conditions, which is difficult to reflect the actual dynamic environment. In order to solve the above problems, this paper takes the grid coordinate system as the reference coordinate system, based on which the algorithm arrangement of the grid inertial navigation system is improved and the rotation modulation algorithm is studied. At the same time, the error model of grid inertial navigation system is deduced in this paper, and combined with the two navigation modes of the mileage meter (Odometer ODO) and the global positioning system (Global Positioning System GPS), the integrated navigation experiments at low latitudes are carried out. In order to solve the problem of using pure mathematics in the verification of navigation algorithm under polar region, this paper designs two schemes, latitude increment method and trajectory rotation method, to convert the actual experimental data at low latitude, and obtain the experimental data of polar region simulation. Finally, the rotation modulation error characteristics based on grid coordinate system and the integrated navigation are verified by polar simulation experiment data. The thesis mainly carries on the following several aspects of research work: 1. In the second chapter, based on the algorithm arrangement of grid inertial navigation system, the error characteristics of rotation modulation in grid coordinate system are analyzed. In the third chapter, the error model of grid inertial navigation system is deduced, and combined with ODO,GPS two navigation methods, the research of integrated navigation in grid coordinate system. 3. In the fourth chapter, two sets of data conversion schemes are designed, I. E. latitude increment method and trajectory rotation method, which are used to convert the actual experimental data into polar simulation experimental data at low latitudes. According to the experimental data of polar region simulation, in chapter 4, the error characteristics of polar rotation modulation and the experimental verification of polar integrated navigation are analyzed.
【学位授予单位】：国防科学技术大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TN96
【相似文献】
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1 赵成龙;基于格网坐标系的极区惯性导航与组合导航算法研究[D];国防科学技术大学;2014年
，本文编号：2246160
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