GPS/INS紧组合对准技术研究
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摘要
GPS/INS导航系统集成了全球定位导航系统(GPS)和惯性导航系统(INS)两个子系统各自的优点:高精度的GPS信息,作为外部测量输入,在运动过程中频繁修正INS,以控制其误差随时间的积累;而短时间内高精度的INS定位结果,可以很好的解决GPS动态环境中的信号失锁和周跳问题。不仅如此,INS还可以辅助GPS接收机增强其抗干扰能力,提高捕获跟踪卫星信号的能力。
受2009年上海航天技术研究院科研基金的资助,本文开展了GPS/INS组合导航快速初始对准技术研究。
本文首先对捷联惯性导航系统和全球定位导航系统分别进行了详细分析,并介绍了INS和GPS工作原理,在此基础上研究了紧组合导航系统,设计了紧组合导航系统滤波器。同时,设计了动基座条件下传递对准滤波器和组合对准滤波器。建立了机翼挠曲变形模型和组合导航系统的误差模型,根据惯导系统误差模型与机翼挠曲变形模型采用“速度+姿态”的匹配方案设计传递对准滤波器,同时,根据惯导系统误差模型与GPS误差模型采用“速度”匹配方案设计组合对准滤波器。
其次,建立传递对准和组合对准仿真环境,给出仿真参数并对动基座条件下的传递对准和组合对准进行仿真,通过仿真结果来评估传递对准和组合对准。速度加姿态匹配的传递对准一般在20s之内便可以完成对准过程,并且拥有较好的对准精度。由于组合对准信息源只有三维速度信息,故在匀速机动情况下其航向角误差的估计结果是发散的,而在摇翼机动下的航向角误差估计也并不理想。
最后,给出论文的总结和进一步的研究方向。
GPS/INS navigation system integrates advantages of GPS and INS: highly precision information from GPS can be output of outside measurement, it can fix the INS system in the movement frequently in order to control the error that accumulated from time; while the positioning results of high accuracy of INS system in a short time can solve the problems about signal outage. What’s more, INS can also aids GPS receiver to improve the ability of interference mitigation and the ability of capture satellite signal.
This essay is sponsored by Shanghai Aerospace Technology Institute fund. This essay research the initial alignment of the integration of GPS/INS navigation system.
First, it analyzes the Strapdown inertial navigation system and Global positioning navigation system respectively, and still introduces the working principle of INS and GPS, and base on this, we study the tight integrated navigation system, design the Kalman Filter for the tight integrated navigation system. At the same time, we design the transfer alignment filter and integrated alignment filter, establish the wing deflection model and the integrated navigation system error model, according to INS error model and the deflection of the wing model using‘speed plus attitude’match to design transfer alignment filter, while, according to the INS and GPS error model error model using‘speed’match to design integrated navigation alignment filter.
Second, establish transfer alignment and integrated alignment simulation environment, and give the simulation parameters, simulate transfer alignment and integrated alignment under the conditions of moving base, evaluate the transfer alignment and integrated alignment through the simulation results. Speed plus the general attitude matching transfer alignment will complete the alignment process within 20 sec, and have better alignment accuracy. As integrated alignment only have three-dimensional velocity information, so in the case of the uniform motor, the heading error is out of estimate, and in the shake-wing maneuver, the heading angle error estimate is not satisfactory.
At last, we will show you the conclusion in this essay and direction in the future
受2009年上海航天技术研究院科研基金的资助,本文开展了GPS/INS组合导航快速初始对准技术研究。
本文首先对捷联惯性导航系统和全球定位导航系统分别进行了详细分析,并介绍了INS和GPS工作原理,在此基础上研究了紧组合导航系统,设计了紧组合导航系统滤波器。同时,设计了动基座条件下传递对准滤波器和组合对准滤波器。建立了机翼挠曲变形模型和组合导航系统的误差模型,根据惯导系统误差模型与机翼挠曲变形模型采用“速度+姿态”的匹配方案设计传递对准滤波器,同时,根据惯导系统误差模型与GPS误差模型采用“速度”匹配方案设计组合对准滤波器。
其次,建立传递对准和组合对准仿真环境,给出仿真参数并对动基座条件下的传递对准和组合对准进行仿真,通过仿真结果来评估传递对准和组合对准。速度加姿态匹配的传递对准一般在20s之内便可以完成对准过程,并且拥有较好的对准精度。由于组合对准信息源只有三维速度信息,故在匀速机动情况下其航向角误差的估计结果是发散的,而在摇翼机动下的航向角误差估计也并不理想。
最后,给出论文的总结和进一步的研究方向。
GPS/INS navigation system integrates advantages of GPS and INS: highly precision information from GPS can be output of outside measurement, it can fix the INS system in the movement frequently in order to control the error that accumulated from time; while the positioning results of high accuracy of INS system in a short time can solve the problems about signal outage. What’s more, INS can also aids GPS receiver to improve the ability of interference mitigation and the ability of capture satellite signal.
This essay is sponsored by Shanghai Aerospace Technology Institute fund. This essay research the initial alignment of the integration of GPS/INS navigation system.
First, it analyzes the Strapdown inertial navigation system and Global positioning navigation system respectively, and still introduces the working principle of INS and GPS, and base on this, we study the tight integrated navigation system, design the Kalman Filter for the tight integrated navigation system. At the same time, we design the transfer alignment filter and integrated alignment filter, establish the wing deflection model and the integrated navigation system error model, according to INS error model and the deflection of the wing model using‘speed plus attitude’match to design transfer alignment filter, while, according to the INS and GPS error model error model using‘speed’match to design integrated navigation alignment filter.
Second, establish transfer alignment and integrated alignment simulation environment, and give the simulation parameters, simulate transfer alignment and integrated alignment under the conditions of moving base, evaluate the transfer alignment and integrated alignment through the simulation results. Speed plus the general attitude matching transfer alignment will complete the alignment process within 20 sec, and have better alignment accuracy. As integrated alignment only have three-dimensional velocity information, so in the case of the uniform motor, the heading error is out of estimate, and in the shake-wing maneuver, the heading angle error estimate is not satisfactory.
At last, we will show you the conclusion in this essay and direction in the future
引文
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[6].秦永元,俞济祥.惯导速度辅助下GPS接收机码环的噪声响应和动态跟踪性能分析[J].航空学报, 1990, 11 (12), pp 564-569.
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[2]. David H. Titterton, John L.Weston. Strapdown Inertial Navigation Technology[M].北京,国防工业出版社,2011.
[3].陈哲,捷联惯导系统原理,北京:宇航出版社,1986.
[4].郑谔.卫星-惯性-星光最优组合导航系统在航天飞机导航中的应用[J].航空学报, Oct., 1988, 9 (10), pp 448-453.
[5].郑谔,倪世宏. GPS/捷联惯性组合导航系统的性能研究[J].西北工业大学学报, 1990, 8 (1), pp 27-34.
[6].秦永元,俞济祥.惯导速度辅助下GPS接收机码环的噪声响应和动态跟踪性能分析[J].航空学报, 1990, 11 (12), pp 564-569.
[7].俞济祥,张更生. GPS/惯性组合方式讨论与导航精度分析[J].航空学报, 1991, 12 (5), pp 227-293.
[8].慕德俊,俞济祥. GPS/惯性导航组合性能和组合方法的研究[J].西北工业大学学报, 1992, 10 (4), pp 518-525.
[9].袁信,刘建业.分布式卡尔曼滤波器在GPS/INS组合导航系统中的应用研究[J].南京航空航天大学学报, 1989, 21 (4), pp 112-116.
[10].安东,任思聪,郑谔. GPS的码跟踪误差检测器与伪距测量的预处理[J].西北工业大学学报, Aug., 1994, 12 (3), pp 402-406.
[11].安东. GPS/INS深组合系统的设计理论与仿真研究[D].西安:西北工业大学自动控制系1992.
[12].安东,郑谔,任思聪.一种新型深组合GPS/INS系统的设计与性能仿真研究[J].中国惯性技术学报, 1995, 3 (1), pp 7-15.
[13].胡德风.一种提高低动态GPS接收机动态适应能力的方法[J].导弹与航天运载技术, 1995, (6), pp 17-21.
[14].陈家斌,袁信.惯性速度辅助下GPS/捷联惯导组合系统性能研究[J].南京航空航天大学学报, 1994, 26 (6), pp 730-736.
[15].陈家斌,袁信.伪距解除相关法在GPS/SINS紧组合系统中的应用研究[J].航空学报, 1995, 16 (6), pp 707-710.
[16].董绪荣.一种低成本GPS组合导航定位系统[J].装备指挥技术学院学报, 2000, 11 (5), pp 6-10.
[17].张贵明,黄顺吉. GPS/SINS全组合系统确定SAR卫星的轨道和姿态[J].系统工程与电子技术, 2002, 24 (5), pp 65-59.
[18].黄凤钊,彭允祥. GPS/SINS伪距(伪距变化率)组合导航系统实验研究[J].中国惯性技术学报, 1998, 6 (2), pp 1-9.
[19].王艳东,黄继勋,范跃祖. GPS/INS组合导航系统半实物仿真研究[J].北京航空航天大学学报, 1999, 25 (3), pp 299-301.
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