【作者】 柏菁；

【导师】 刘建业； 袁信；

【作者基本信息】 南京航空航天大学 ， 精密仪器及机械， 2002， 硕士

【摘要】 为了适应现代化航行体对导航系统在精度、可靠性、智能化和可视化方面越来越高的要求，本学位论文主要对地形辅助／惯性／GPS组合导航系统进行研究和可视化仿真，在系统地阐述三组合系统理论知识的同时，利用高级编程语言对其进行可视化仿真，实现组合系统的可视化功能；本文还尝试把模糊逻辑系统与卡尔曼滤波器结合起来构成新的自适应滤波器运用到组合系统中，从而提高系统的精度和可靠性。 全文主要分为理论研究和可视化仿真两部分内容，完成的主要工作如下： (1) 从导航原理、数学模型等方面对惯性／GPS和地形辅助惯导系统进行研究；对基于高程匹配的地形辅助导航技术进行深层剖析；探讨了联合滤波算法在组合导航系统中的应用。本章为后面研究提供了理论依据。 (2) 利用多种高级语言对三组合导航系统进行了可视化仿真，设计并制作出仿真软件。具体描述了软件的设计思想，界面结构及特点，各个导航仿真系统的相关理论、设计思想及程序流程图，分别介绍了软件各部分模块实现的具体功能、方法技巧以及操作情况。最后对本软件的设计结果作出了评价，基本上实现设计初衷。 (3) 具有创新性地研究出一种模糊自适应卡尔曼滤波技术，通过系统仿真证明该算法是行之有效的。 本文希望能为地形辅助／惯性／GPS组合导航系统的研究有所贡献，为进一步构成新型可视化智能融合导航系统做一个铺垫。更多还原

【Abstract】 To satisfy the higher requirement of modern aircraft to the navigation systems, this dissertation principally lucubrate the TAN/INS/GPS integrated navigation system. In this paper, some representative views are presented and the key techniques of the multi-sensor navigation system are applied, such as the data fusion and the Federated Filter, to the above system. When studying in theory, visual simulation of the TAN/INS/GPS system has been done using advanced programming languages. The author attempts to present the fuzzy adaptive Kalman Filtering technique and apply it to the SINS/GPS system.The whole paper has two parts, that is, theoretical study and visual simulation. The contents and main contributions are summarized as follows:(1) Respectively studies on the SINS/GPS and TAN in the way of principle, mathematical model and performance; In depth researches the Terrain-Aided navigation technique based on elevation matching; Studies the application of Federated Filter in the TAN/INS/GPS system.(2) Visual simulation of the TAN/INS/GPS system has been done using advanced programming languages and the software has been designed out.(3) Presents an innovative technique of fuzzy adaptive Kalman Filtering and testifies it effective by simulation.I hope new and effective methods to be given here and hope this paper to contribute to the new visual intelligent fault-tolerant navigation system.更多还原