INS/GPS组合算法研究及其误差分析
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摘要
航空摄影测量中的一个关键问题是确定像片的外方位元素,传统的方法是通过摄影测量加密来确定的,这需要大量的地面控制点。INS可以提供姿态,GPS可以提供位置,将两者组合并通过一定的解算可以辅助或代替这一传统方式。
作为系统组合的核心软技术——组合算法,最近几年一直是研究的热点之一。目前国内还没有完整的技术推理过程,仅仅停留在组合方案设计上。本文在前人的技术基础上,进行了紧耦合的算法研究,并对松、紧耦合性能作了分析比较,并且对该组合系统中误差影响作了一定的分析,主要有以下内容:
1.对捷联式惯导坐标系之间的关系进行了分析研究,其中主要的是惯性坐标系与地理坐标系之间的转换;分析了INS/GPS组合类型和两种系统时间同步的问题。
2.采用了20个状态参数,对伪距和伪距率进行状态方程和量测方程的研究,并确定相应的系数及其残差改正。同时从理论与实践的角度出发对松、紧耦合进行了比较分析,并改进了组合方案的。
3.根据组合算法和测绘现有GPS技术,探讨了提高精度的措施,并在DGPS和PPP模式下进行了比较试验;分析了误差影响,并探讨了该技术在航空摄影应用中的关键技术。
总之,科学合理的融合算法是两种类型数据充分发挥各自优势的前提,本文针对INS和GPS两种系统的数据特点及组合的目的,结合国内外现状,进行了INS/GPS组合算法的研究。同时,在理论的基础上,从应用的角度对误差及其影响进行了分析。
Determination the exterior orientation elements of the photograph a is key issue in aerophotogrammetry. The traditional method is adopted to encryption photogrammetry to determine, which requires a large amount of ground control points. INS can provide attitude. GPS can provide the location. Combination and calculation of the two systems can aid or replace the traditional method.
As the core technology of system software - Integrated Algorithms, it has been one of the hot spots in recent years. At present, there is not complete reasoning process in the technology, just stays in the program design. In this paper, a tightly coupled algorithm is derived based on the technical basis of our predecessors, and make the performance comparison and analysis between loose and tight coupling, I also do the analysis of the certain impact of error. There is the following main elements in this paper:
1. Do analysis and study the relation between coordinate systems of strapdown INS, among which the conversion between the inertial coordinate system and the geographic coordinate system is important; Do analysis combination type of INS / GPS and time synchronization of two systems.
2. In this paper, there are 20 parameters, for the pseudo-range and pseudo-range rate, the state equation and measurement equations are derived, and to determine the appropriate correction factor and the residuals. At the same time do comparatively analysis from the perspective of the theory and practice in loose and tight coupling, and make program improvement.
3. Explore measures to improve the accuracy in accordance with the existing integrated algorithms and GPS technology, and in DGPS and PPP mode ,make compared test; analysis of errors, and explore the critical point in the application of technology in the aerial photography.
In short, the scientific and rational integration algorithm is the premise of the two types of data giving full play to their advantage. This article carry out the INS / GPS combination algorithm for the INS and GPS according to the characteristics of the two systems data and the purpose of the combination and the status quo at home and abroad. At the same time, on the basis of the theory, I do analysis on errors and its impact in the view of application.
作为系统组合的核心软技术——组合算法,最近几年一直是研究的热点之一。目前国内还没有完整的技术推理过程,仅仅停留在组合方案设计上。本文在前人的技术基础上,进行了紧耦合的算法研究,并对松、紧耦合性能作了分析比较,并且对该组合系统中误差影响作了一定的分析,主要有以下内容:
1.对捷联式惯导坐标系之间的关系进行了分析研究,其中主要的是惯性坐标系与地理坐标系之间的转换;分析了INS/GPS组合类型和两种系统时间同步的问题。
2.采用了20个状态参数,对伪距和伪距率进行状态方程和量测方程的研究,并确定相应的系数及其残差改正。同时从理论与实践的角度出发对松、紧耦合进行了比较分析,并改进了组合方案的。
3.根据组合算法和测绘现有GPS技术,探讨了提高精度的措施,并在DGPS和PPP模式下进行了比较试验;分析了误差影响,并探讨了该技术在航空摄影应用中的关键技术。
总之,科学合理的融合算法是两种类型数据充分发挥各自优势的前提,本文针对INS和GPS两种系统的数据特点及组合的目的,结合国内外现状,进行了INS/GPS组合算法的研究。同时,在理论的基础上,从应用的角度对误差及其影响进行了分析。
Determination the exterior orientation elements of the photograph a is key issue in aerophotogrammetry. The traditional method is adopted to encryption photogrammetry to determine, which requires a large amount of ground control points. INS can provide attitude. GPS can provide the location. Combination and calculation of the two systems can aid or replace the traditional method.
As the core technology of system software - Integrated Algorithms, it has been one of the hot spots in recent years. At present, there is not complete reasoning process in the technology, just stays in the program design. In this paper, a tightly coupled algorithm is derived based on the technical basis of our predecessors, and make the performance comparison and analysis between loose and tight coupling, I also do the analysis of the certain impact of error. There is the following main elements in this paper:
1. Do analysis and study the relation between coordinate systems of strapdown INS, among which the conversion between the inertial coordinate system and the geographic coordinate system is important; Do analysis combination type of INS / GPS and time synchronization of two systems.
2. In this paper, there are 20 parameters, for the pseudo-range and pseudo-range rate, the state equation and measurement equations are derived, and to determine the appropriate correction factor and the residuals. At the same time do comparatively analysis from the perspective of the theory and practice in loose and tight coupling, and make program improvement.
3. Explore measures to improve the accuracy in accordance with the existing integrated algorithms and GPS technology, and in DGPS and PPP mode ,make compared test; analysis of errors, and explore the critical point in the application of technology in the aerial photography.
In short, the scientific and rational integration algorithm is the premise of the two types of data giving full play to their advantage. This article carry out the INS / GPS combination algorithm for the INS and GPS according to the characteristics of the two systems data and the purpose of the combination and the status quo at home and abroad. At the same time, on the basis of the theory, I do analysis on errors and its impact in the view of application.
引文
[1]张雨楠.INS/GPS组合导航系统滤波器设计:[硕士学位论文].哈尔滨:哈尔滨工程大学,2007
[2]陈永冰.INS/GPS组合导航系统及其卡尔曼滤波器的设计:[硕士学位论文].大连:海军工程学院,,1992
[3]陈永冰,钟斌.惯性导航原理[M].北京:国防工业出版社,2007:7-9
[4]吴舟.组合导航数据处理方法研究及其应用:[硕士学位论文].长沙:国防科学技术大学,2006
[5]David H.Titterton,John L.Weston.Stapdown Inertial Navigation Technology,2nd Edition[M].Institution of Electrical Engineers Press,2004:236-239
[6]郑辛,宋有山.国外惯性技术发展趋势与展望[C].2005年惯性器件材料与工艺学术研讨暨技术交流会,2005
[7]许丽佳.组合导航系统中的信息融合研究:[硕士学位论文].北京:北京工业大学,2004
[8]Grewal,Mohinder S.,Lawrence R.Weill,and Angus R.Andrews.Global Navigation Systems Inertial Navigation,and Integration[M].John Wiley&Sons Press,2001:13-15
[9]刘凯,刘慧.GPS/INS组合制导技术在现代战争中的应用及发展趋势[J].全球定位系统,2005,29(4):42-44
[10]李方锁,孙道省.嵌入式深组合导航系统的研究与应用[J].战术导弹控制技术,2000,33(2):42-47
[11]栗瑞江.低成本SINS/GPS组合导航系统研究:[硕士学位论文].西安:西北工业大学,2001
[12]孙道省.嵌入式GPS/INS深组合导航系统研究:[硕士学位论文].北京:航天科工集团第三研究院,1996
[13]赵伟,袁信.基于H∞滤波的GPS/INS全深组合导航系统研究[J].中国空间科学技术,2002,4(2):9-14
[14]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):707-710
[15]安东,郑愕.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):7-15
[16]Jan Wendel.Comparision of Extended and Sigma-Point Kalman Filters for Tightly Coupled GPS/INS Integration,AIAA 2005-6055.Germany:University of Karlsruhe,2005
[17]陈偲,王可东.惯性导航与卫星导航紧耦合技术发展现状[J].全球定位系统,2007,31(3):21-26
[18]Pratap Misra,Per Enge.Global Positioning System,Signals,Measurements,and Performance,Second Edition,Lincoln,Mass:Ganga-Jamuna Press,2008:23-29
[19]US PNT Policy.National Security Policy Directive,15 December 2004
[20]Van Dierendonck,A.J.Satellite Radio Navigation,in Avionics Navigation Systems,Second Edition,Myron Kayton and Walter R.Frind Press,1997:178-182
[21]Fisher,Steven,and Kamran Ghassemi.BlocklIF--The Next Generation,Proc,IEEE,1999,87(1):24-27
[22]NAPA-NRC.The Global Positioning System:A Shared National Asset,Recommendations for Technical Improvements and Enhancements,National Academy Press,1995:36-39
[23]Beard,R.L.,and J.D.White.GPS Application to Transfer and Dissemination,GPS Solution,1999,3(1):17-25
[24]Brown,Robert Grover,and Patrick Y.C.Hang.Introduction to Random Signals and Applied Kalman Filtering,3~(rd) edition,John Wiley&Sons Press,1997:46-48
[25]李征航,黄劲松.GPS测量与数据处理[M].武汉:武汉大学出版社,2007:86-87
[26]Feess,W.A.,and S.G.Stephens.Evaluation of GPS Ionospheric Model,IEEE Transactions on Aerospace and Electronic Systems,1987,23(3):332-338
[27]Counselman Ⅲ,Charles C.Multipath-Rejecting GPS Antennas,Pro.IEEE,1999,87(1):86-91
[28]Braasch,Michael S.,and A.J.Van Dierendonck.GPS Receiver Architectures and Measurements,Pro.IEEE,1999,87(1):48-64
[29]Kitching,John et al.Chip Scale Atomic Frequency References,Pro.ION GNSS,2005:1662-1663
[30]秦永元.惯性导航[M].北京:科学出版社,2006:9-12
[31]张树侠,孙静.捷联式惯性导航系统[M].北京:国防工业出版社,1992:3-4
[32]袁信,郑谔.捷联式惯性导航原理[M].北京:航空专业教材编审组出版,1984:57-59
[33]朱华统.常用大地坐标系及其变换[M].北京:解放军出版社,1990:24-25
[34]Lee J G,Park C G,Park H W.Multiposition alignment of strapdown inertial navigation system,IEEE,1993,29(4):1323-1328
[35]万德钧,房建成.惯性导航初始对准[M].南京:东南大学出版社,1998:25-27
[36]郭秀中,于波,陈云相.陀螺仪理论及其应用[M].北京:航空工业出版社,1987:46-49
[37]于波,陈云相,郭秀中.惯性技术[M].北京:航空工业出版社,1994:57-60
[38]张国良,曾静.组合导航原理与技术[M].西安:西安交通大学出版社,2008:40-44
[39]Schmidt,G.T.,and Phillips,R.E.INS/GPS integration architectures,Note Rto Lecture Series LS232,2003
[40]Groves,P.D.,and Long,D.C.Adaptive tightly,coupled,a low cost alterna-tive anti-jam INS/GPS integration technique,ION National Technical Meeting,2003
[41]肖进丽,潘正风,黄声享.GPS/INS组合导航系统时间同步方法研究[J].测绘通报,2007,(4):27-29
[42]董绪荣,张守信,华仲春.GPS/INS组合导航定位及其应用[M].长沙:国防科技大学出版社,1998:26-27
[43]吴秀清,周荷琴.微型计算机原理与接口技术[M].合肥:中国科技大学出版社,2002:19-20
[44]游文虎,姜复兴.INS/GPS组合导航系统的数据同步技术研究[J].中国惯性技术学报,2003,11(4):20-22
[45]邹逢兴,何智勇,史美萍.微型计算机硬件技术及应用基础[M].北京:国防科技大学出版社,1997:74-76
[46]BARHAM,P.M.,and HUMPHRIES,D.E.:'Derivation of the Kalman filtering equation from elementary statistical principles',NATO Agardograph AG139 'Theory and application of Kalman filters',1970
[47]Gelb,A.Applied optimal estimation,Massachusetts Institute of Technology,Cambridge,1974
[48]Jazwinski,A.H.Stochastic processes and filtering theory,Academic Press,1970:89-92
[49]刘海颖,王惠南.基于广义卡尔曼滤波的伪距组合GPS/INS导航[J].航天控制,2004,22(4):34-38
[50]周星伶.GPS/INS组合导航系统松、紧耦合性能比较[J].航天电子技术,2007,38(4):1-6
[51]曹福祥,袁建平.基于精确伪距率观测模型的GPS/SINS组合导航系统研究[J].航天控制,1999,(3):58-64
[52]朱家海.惯性导航[M].北京:国防工业出版社,2008:215-218
[53]Karwacki,F.A.Nuclear magnetic resonance gyro development,Navigation Journal of The Institute of Navigation,1980,27(1):11-14
[54]Smithson,T.G.A review of the mechanical design and developmengt of a high performance accelerometer,Mechanical Technology of Inertial Sensors,1980,87(4):29-30
[55]田亚军,徐晖.GPS/INS组合导航算法对比性研究[J].空间电子技术,2003,(2):18-24
[56]李学友.IMU/DGPS辅助航空摄影测量原理、方法与实践:[博士学位论文].郑州:解放军信息工程大学,2005
[57]郭大海,吴立新.IMU/DGPS辅助航空摄影新技术的应用[J].国土资源遥感,2006.67(1).51-55
[2]陈永冰.INS/GPS组合导航系统及其卡尔曼滤波器的设计:[硕士学位论文].大连:海军工程学院,,1992
[3]陈永冰,钟斌.惯性导航原理[M].北京:国防工业出版社,2007:7-9
[4]吴舟.组合导航数据处理方法研究及其应用:[硕士学位论文].长沙:国防科学技术大学,2006
[5]David H.Titterton,John L.Weston.Stapdown Inertial Navigation Technology,2nd Edition[M].Institution of Electrical Engineers Press,2004:236-239
[6]郑辛,宋有山.国外惯性技术发展趋势与展望[C].2005年惯性器件材料与工艺学术研讨暨技术交流会,2005
[7]许丽佳.组合导航系统中的信息融合研究:[硕士学位论文].北京:北京工业大学,2004
[8]Grewal,Mohinder S.,Lawrence R.Weill,and Angus R.Andrews.Global Navigation Systems Inertial Navigation,and Integration[M].John Wiley&Sons Press,2001:13-15
[9]刘凯,刘慧.GPS/INS组合制导技术在现代战争中的应用及发展趋势[J].全球定位系统,2005,29(4):42-44
[10]李方锁,孙道省.嵌入式深组合导航系统的研究与应用[J].战术导弹控制技术,2000,33(2):42-47
[11]栗瑞江.低成本SINS/GPS组合导航系统研究:[硕士学位论文].西安:西北工业大学,2001
[12]孙道省.嵌入式GPS/INS深组合导航系统研究:[硕士学位论文].北京:航天科工集团第三研究院,1996
[13]赵伟,袁信.基于H∞滤波的GPS/INS全深组合导航系统研究[J].中国空间科学技术,2002,4(2):9-14
[14]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):707-710
[15]安东,郑愕.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):7-15
[16]Jan Wendel.Comparision of Extended and Sigma-Point Kalman Filters for Tightly Coupled GPS/INS Integration,AIAA 2005-6055.Germany:University of Karlsruhe,2005
[17]陈偲,王可东.惯性导航与卫星导航紧耦合技术发展现状[J].全球定位系统,2007,31(3):21-26
[18]Pratap Misra,Per Enge.Global Positioning System,Signals,Measurements,and Performance,Second Edition,Lincoln,Mass:Ganga-Jamuna Press,2008:23-29
[19]US PNT Policy.National Security Policy Directive,15 December 2004
[20]Van Dierendonck,A.J.Satellite Radio Navigation,in Avionics Navigation Systems,Second Edition,Myron Kayton and Walter R.Frind Press,1997:178-182
[21]Fisher,Steven,and Kamran Ghassemi.BlocklIF--The Next Generation,Proc,IEEE,1999,87(1):24-27
[22]NAPA-NRC.The Global Positioning System:A Shared National Asset,Recommendations for Technical Improvements and Enhancements,National Academy Press,1995:36-39
[23]Beard,R.L.,and J.D.White.GPS Application to Transfer and Dissemination,GPS Solution,1999,3(1):17-25
[24]Brown,Robert Grover,and Patrick Y.C.Hang.Introduction to Random Signals and Applied Kalman Filtering,3~(rd) edition,John Wiley&Sons Press,1997:46-48
[25]李征航,黄劲松.GPS测量与数据处理[M].武汉:武汉大学出版社,2007:86-87
[26]Feess,W.A.,and S.G.Stephens.Evaluation of GPS Ionospheric Model,IEEE Transactions on Aerospace and Electronic Systems,1987,23(3):332-338
[27]Counselman Ⅲ,Charles C.Multipath-Rejecting GPS Antennas,Pro.IEEE,1999,87(1):86-91
[28]Braasch,Michael S.,and A.J.Van Dierendonck.GPS Receiver Architectures and Measurements,Pro.IEEE,1999,87(1):48-64
[29]Kitching,John et al.Chip Scale Atomic Frequency References,Pro.ION GNSS,2005:1662-1663
[30]秦永元.惯性导航[M].北京:科学出版社,2006:9-12
[31]张树侠,孙静.捷联式惯性导航系统[M].北京:国防工业出版社,1992:3-4
[32]袁信,郑谔.捷联式惯性导航原理[M].北京:航空专业教材编审组出版,1984:57-59
[33]朱华统.常用大地坐标系及其变换[M].北京:解放军出版社,1990:24-25
[34]Lee J G,Park C G,Park H W.Multiposition alignment of strapdown inertial navigation system,IEEE,1993,29(4):1323-1328
[35]万德钧,房建成.惯性导航初始对准[M].南京:东南大学出版社,1998:25-27
[36]郭秀中,于波,陈云相.陀螺仪理论及其应用[M].北京:航空工业出版社,1987:46-49
[37]于波,陈云相,郭秀中.惯性技术[M].北京:航空工业出版社,1994:57-60
[38]张国良,曾静.组合导航原理与技术[M].西安:西安交通大学出版社,2008:40-44
[39]Schmidt,G.T.,and Phillips,R.E.INS/GPS integration architectures,Note Rto Lecture Series LS232,2003
[40]Groves,P.D.,and Long,D.C.Adaptive tightly,coupled,a low cost alterna-tive anti-jam INS/GPS integration technique,ION National Technical Meeting,2003
[41]肖进丽,潘正风,黄声享.GPS/INS组合导航系统时间同步方法研究[J].测绘通报,2007,(4):27-29
[42]董绪荣,张守信,华仲春.GPS/INS组合导航定位及其应用[M].长沙:国防科技大学出版社,1998:26-27
[43]吴秀清,周荷琴.微型计算机原理与接口技术[M].合肥:中国科技大学出版社,2002:19-20
[44]游文虎,姜复兴.INS/GPS组合导航系统的数据同步技术研究[J].中国惯性技术学报,2003,11(4):20-22
[45]邹逢兴,何智勇,史美萍.微型计算机硬件技术及应用基础[M].北京:国防科技大学出版社,1997:74-76
[46]BARHAM,P.M.,and HUMPHRIES,D.E.:'Derivation of the Kalman filtering equation from elementary statistical principles',NATO Agardograph AG139 'Theory and application of Kalman filters',1970
[47]Gelb,A.Applied optimal estimation,Massachusetts Institute of Technology,Cambridge,1974
[48]Jazwinski,A.H.Stochastic processes and filtering theory,Academic Press,1970:89-92
[49]刘海颖,王惠南.基于广义卡尔曼滤波的伪距组合GPS/INS导航[J].航天控制,2004,22(4):34-38
[50]周星伶.GPS/INS组合导航系统松、紧耦合性能比较[J].航天电子技术,2007,38(4):1-6
[51]曹福祥,袁建平.基于精确伪距率观测模型的GPS/SINS组合导航系统研究[J].航天控制,1999,(3):58-64
[52]朱家海.惯性导航[M].北京:国防工业出版社,2008:215-218
[53]Karwacki,F.A.Nuclear magnetic resonance gyro development,Navigation Journal of The Institute of Navigation,1980,27(1):11-14
[54]Smithson,T.G.A review of the mechanical design and developmengt of a high performance accelerometer,Mechanical Technology of Inertial Sensors,1980,87(4):29-30
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