【作者】 孙黎明；

【导师】 田斌；

【作者基本信息】 西安电子科技大学 ， 空间信息科学， 2008， 硕士

【摘要】 高速运动物体的远距离精确导航是导航研究的热点问题。INS(Inertial Navigation System)/GPS(Global Positioning System)组合导航系统综合了INS和GPS两者的优点,能够提高导航精度,成为当代导航的发展方向之一。本文针对INS/GPS组合导航系统,重点研究了信息融合算法及INS速度辅助的GPS接收机性能,主要成果如下:1、设计了一种飞行器轨迹产生方法,并完成不同坐标下的坐标转换;对惯性器件的陀螺仪和加速度计进行建模仿真。2、分析INS及GPS系统误差源并对误差进行建模,仿真实现卡尔曼滤波算法对误差进行最优估计。3、针对统计模型的不准确度,在研究卡尔曼算法特点的基础上,选取一种基于模糊控制的指数加权卡尔曼滤波算法。仿真结果表明,该算法抑制了滤波器发散,从而提高了导航精度。4、研究有惯性速度辅助下的GPS接收机的带宽、跟踪和捕获性能,仿真结果表明:有INS速度辅助GPS接收机跟踪环路的锁定时间为无辅助的1/100,有效地提高了接收机性能。更多还原

【Abstract】 The precise navigation of high speed objects in long distance is a hot topic in navigation research. INS(Inertial Navigation System)/GPS(Global Positioning System) integrated navigation system take both the advantages of INS and GPS, it can improve the positioning precision and has been one of the development directions of modern navigation system. Aimed at INS/GPS integrated navigation system, this thesis puts emphasis on information fusion algorithms and characteristic of GPS receiver aided by velocity signal provided by INS. The main contribution of this thesis is as follows,1. A track generating method is designed and the coordinate conversion of different coordinates is completed. The modeling of gyroscope and accelerometer of INS is given.2. The main error sources of INS and GPS are studied and their modes are established. The error is optimally estimated by Kalman filter algorithm.3. Aiming at the inaccurate error mode, through analysis of the characteristic of Kalman filter algorithm, a weighted exponential Kalman fiiter algorithm based on fuzzy control is introduced. Simulation results prove that the tracking performance of filter is enhanced, thus positioning precision of the integrated navigation can be improved.4. Bandwidth, tracking and capture characteristic of GPS receiver aided by velocity signal provided by INS are studied. Simulation results show that the transition time of such GPS receiver is one percent of original GPS receiver. Its performances are improved effectively.更多还原