【作者】 尚伟；

【导师】 吴俊伟；

【作者基本信息】 哈尔滨工程大学 ， 检测技术与自动化装置， 2009， 硕士

【摘要】 惯性导航系统通常由陀螺仪和加速度计组成,陀螺仪用于测量角运动参数,加速度计用于测量线加速度。随着微惯性器件的发展,微机械惯性测量单元的应用技术得到了广泛的重视。为了提高惯导系统的导航精度和可靠性,利用GPS或其他卫星导航系统与INS进行融合构成组合导航系统是导航技术发展的必然趋势。INS/GPS/EC组合导航技术是当今世界各国研究的热点,同时也是组合导航技术发展的一个主要方向。INS/GPS/EC组合导航技术的出现历史很短,GPS测姿技术也是近几年才发展成熟。相对惯性器件研制方面的差异而言,我国INS/GPS/EC组合导航技术的研究水平与工业发达国家相差并不大。本文主要研究惯性测量单元基础上的GPS和EC的组合方式,以高导航系统的精度。首先提出了系统的总体方案,从工程实用角度进行了系统的选择。作为系统的主体部分GPS和EC,对GPS的工作原理进行了说明,给出了GPS特有的命令发送方式和数据采集方法,而罗经的自差影响到系统的精度,所以对罗经自差的消除进行了详细说明,并给出了明确的方法,为后续工作做好准备。对INS/GPS/EC组合导航系统滤波器设计进行了研究,设计组合方案,给出相应滤波器的方程。分别对INS子系统,INS/EC子滤波器、INS/GPS子滤波器以及主滤波器的速度和位置误差曲线,给出详细的滤波图形,并分析所得结论。有效消除速度跳变的影响,仿真验证,该滤波器性能良好,系统可以在较长时间内保持较高的精度。实现了本课题所预期达到的目的。更多还原

【Abstract】 The inertial navigation systems are generally formed by gyroscopes and accelerometers.Gyroscopes are used for measuring the angular motion parameters and accelerometers for the linear acceleration.The application technology of MEMS IMU has been widely thought much of.In order to improve the accuracy and reliability of inertial navigation system,the use of GPS or other satellite navigation system for integration with INS constitute of integrated navigation system is the inevitable trend of development of navigation technology.INS / GPS / EC combination of navigation technology is the world’s hot countries,but also a major direction of the integrated navigation technology development.The history of INS / GPS / EC navigation technology is very short,GPS measured attitude technology is also developed sophisticated in recent years.The relative differences in inertial device of research level,China’s INS / GPS / EC research in integrated navigation technology had not been so different to advanced industrial countries.In this paper,the main research work is on the combination mode of the GPS and EC basis of IMU,in order to improve the accuracy of navigation system.First of all,put forward of general scheme of the IMU,the choice of system device by the angle of practical engineering.GPS and EC used as the main part of the system,describing the working principle of GPS,giving the GPS-specific methods for command sending and data collection methods,for compass deviation will impact to the system accuracy,since the elimination of compass deviation is carried out a detailed explanation and give a specific method of preparation for the follow-up work.Research for the INS / GPS / EC integrated navigation system filter design,design combine programs,give the corresponding filter equation.For the INS subsystem respectively,INS / EC sub-filter,INS / GPS sub-filter and main filter of speed and position error curves,give detailed graphics filter,and analyze the conclusions.Stimulation verification,the filter at a good performance,the system can be to maintain a high accuracy for a long time.Have been realization of its purpose by the projects undertaken.更多还原