【作者】 何东旭；

【导师】 赵琳；

【作者基本信息】 哈尔滨工程大学 ， 导航、制导与控制， 2010， 硕士

【摘要】 随着各种新式武器的不断发展和广泛应用,普通的导航系统无法满足高精度和高可靠性的要求。本论文主要针对如何进一步提高组合导航系统的实时定位精度和可靠性这一问题进行了深入的研究,研究内容包括以下几个方面:1通过对捷联惯导系统原理的研究,建立了指北方位捷联惯导系统力学编排方程,推导了其误差方程并建立了惯性元件的误差模型,而且对捷联惯导系统做了仿真,包括陀螺仪、加速度计以及载体速度、位置和姿态等;2对于SINS/GPS组合导航,论文采用基于载波相位双差测量技术GPS和SINS进行松组合的组合方案,保证GPS和SINS的独立性,增强了整体系统的稳定性和可靠性。系统采用消除大部分公共误差的GPS载波相位双差为观测量,对惯导位置误差直接进行观测并加以校正,以得到高精度的定位信息。该方案通过仿真证明:在组合的条件下比纯惯导条件的数据精度得到了极大的提高,满足了导航系统精度的要求;3为解决GPS载波相位中的周跳问题,本文评估了一种利用组合导航系统短期提供的高精度的姿态信息对GPS进行周跳检测的方法。应用此方法,无论在静态还是动态情况下,都可以快速且比较准确地检测周跳;在检测周跳的基础上,研究GPS确定整周模糊度的方法以补偿周跳产生的误差。在提高了GPS性能的同时,也提高了组合导航系统的性能。更多还原

【Abstract】 The Strap-down Inertial Navigation System (SINS) and Global Positioning System (GPS) are highly complementary to each other. Integrated navigation technology can effetively improve the Performance of Navigation system. However,the usual integrated GPS/SINS navigation system couldn’t meet the demand of high precision. This dissertation has mainly developed research work on improve the real-time position accuracy of the integrated navigation system.The main works include:1. The theory of SINS has been introduced briefly,and the gyroscopes,accelerometers,as well as the carrier’s trajectory and attitude have been simulated.2. With GPS and SINS error equation,the position,velocity integration based on single frequency carrier phase are established respectively. According to the result of simulation,we can conclude:The integrated GPS/SINS navigation system based on single frequency carrier phase has a promsing prospect in military filed. a scheme of high precision integrated GPS/SINS navigation system based on single frequency carrier phase is proposed in the dissertation.It could observe directly and compensate SINS position error by using the high precision double-differenced GPS carrier phase measurements.3. The computation of integer ambiguity and correction of cycle slip are the two important factors for acquiring accurate result in the appalication of carrier phase. Base on current research, this paper adopts a new algorithm of integer ambiguity. In order to resolve the cycle-slip of GPS carrier phase measurements,a fast algorithm is put forward to repair cycle slips and solve integer ambiguities renewedly by using the high precision position from integrated navigation system and the characteristics of SINS.更多还原