捷联惯导算法及车载组合导航系统研究

【作者】 严恭敏；

【导师】 秦永元；

【作者基本信息】 西北工业大学 ， 检测技术与自动化装置， 2004， 硕士

【摘要】 捷联惯导系统(SINS)的惯性器件(陀螺仪和加速度计)直接固联在载体上，这就给捷联系统的软、硬件设计提出了有别于平台惯导系统的特殊问题。对捷联惯导系统的研究一方面致力于对载体运动信息的精确测量，另一方面致力于求取导航解的精确算法。 本文的主要研究工作如下： 1．针对当前捷联惯导系统中惯性器件的输出大多采用增量形式的数据输出，简要介绍了适合于增量形式数据处理的捷联算法基本理论。基本理论包括四元数和等效旋转矢量算法、圆锥误差及其补偿算法、划船误差产生的机理及其补偿算法、涡卷误差产生的机理及其补偿算法。 2．以东北天坐标系为导航坐标系，假定姿态、速度和位置更新周期相同时，详细推导了捷联惯导的数字迭代算法。仿真结果表明：捷联惯导算法能实现对姿态圆锥误差和速度划船误差的补偿。 3．对捷联惯导系统、里程仪(OD)和全球定位系统(GPS)误差方程进行了分析，建立了以捷联惯导系统为主的用于卡尔曼滤波的系统方程和观测方程，给出了车载组合导航系统的分布式滤波组合方案。仿真结果表明：组合导航系统在反馈校正时能有效地抑制导航误差。 本文有如下创新点： 1．在捷联惯导数字迭代算法中，姿态算法有效处理了导航坐标系旋转的影响，利用位置矩阵求解位置的方法很容易地解决了涡卷误差的补偿问题。程序设计者可按照论文中的捷联惯导迭代算法编制出实用的程序。 2．在模拟航迹基础上，对捷联惯性导航算法和车载组合导航系统进行了面向对象的C++程序设计和仿真。更多还原

【Abstract】 The inertial sensors (gyros and accelerometers) of the strapdown inertial navigation system (SINS) are directly mounted to the vehicle. Unlike platform inertial navigation system, special problems will occur when the software and the hardware are considered in SINS. There are two key points in the research on SINS. One is to get the measurements of the vehicle motion as precise as possible and the other is to develop navigation algorithms by which the navigation accuracy can be guaranteed.The main efforts done in the thesis are as follows:1. Because the data output of most of the inertial sensors in SINS is in incremental form, the fundamental theory of SINS based on the data output form is described in this thesis. The theory includes quaternion and rotation vector, coning error, sculling error and scrolling error and the compensating methods of these errors.2. On the condition of selecting East-North-Up coordinate as navigation coordinate and supposing the updating periods for attitude, velocity and position all the same, the digital algorithms for SINS are deduced in details. The simulation results show that coning error and sculling error can be compensated satisfactorily in the algorithms.3. The vehicle-borne integrated navigation system is studied. The paper presents the form of SINS/Odometer(OD)/Global Position System(GPS) integrated navigation system based on SINS. State and observation equations are established for Kalman filter. The simulation result shows that the integrated navigation system can reduce navigation error when using the feedback calibration method.The main innovations done in the thesis are as follows:1. The rotation effect of navigation coordinate is well compensated in SINS attitude algorithms. Scrolling error compensation can directly be used in the position matrix update algorithms. Programmers can easily program in practice when using the SINS digital algorithms.2. Based on trajectory generation, SINS digital algorithms and the vehicle-borne integrated navigation system are designed using object oriented design (OOD) and C++ language; hence simulated.更多还原