【作者】 姬振龙；

【导师】 钱峰；

【作者基本信息】 上海交通大学 ， 导航、制导与控制， 2010， 硕士

【摘要】 捷联惯性导航系统和全球定位系统所组成的组合导航系统综合了捷联惯导系统的高可靠性和全球定位系统高精度的优点,具有成本低廉、导航精度高、可靠性好的特点,是一种理想的组合方式。本论文中GPS/SINS组合导航系统具有两种组合方式,即无陀螺组合和有陀螺组合。其中,无陀螺组合方式姿态角的计算是通过加速度计和磁阻来完成的;有陀螺组合方式是在无陀螺组合方式的基础上,通过引进一个陀螺,来改善系统动态性能的一种方式。本文对两种组合导航系统中的滤波方法进行了深入研究,并设计了模拟仿真系统以检验滤波效果。本文首先介绍了导航系统的发展现状,继而介绍了捷联惯导系统的基本原理,建立了捷联惯导及GPS的误差模型,并阐述了卡尔曼滤波在GPS/SINS组合导航系统中的应用。其次,研究了GPS/SINS组合导航系统的组合方式。着重阐述了两种组合的组合导航系统的原理和特点,并继而针对各种卡尔曼滤波的不同特点建立了组合导航的状态方程和量测方程。最后,设计了GPS/SINS组合导航半物理仿真系统。利用数学方法模拟出载体轨迹,并仿真模拟陀螺仪、加速度计和磁阻的输出结果,和仿真的GPS数据组合,在此基础上设计了针对组合导航的卡尔曼滤波器、改进自适应滤波器,进行实验研究。实验结果表明自适应滤波器比卡尔曼滤波器的滤波效果要好。更多还原

【Abstract】 The integrated navigation system of Strapdown Inertial Navigation System and Global Positioning System is an ideal integrated mode, which has advantages of low cost, high precision, and good reliability, since it has integrated the advantage of good reliability of SINS and high precision of GPS. GPS/SINS integrated navigation system has two integrated mode in this thesis, one is No Gyro Integrated Navigation System, the other is Integrated Navigation System with Gyroscope. The attitude angles of the No Gyro Integrated Navigation System are calculated by accelerometer and reluctance. Integrated Navigation System with Gyroscope improves the system dynamic performance by introducing a gyroscope on the basis of the No Gyro Integrated Navigation System. This thesis studied the filtering method of the integrated navigation systems in depth and established the simulation systems to test the filtering effect.Firstly, the thesis introduced present situation of the navigation system, then the basic principle of SINS and GPS was introduced. The error model of SINS and GPS was established, and the application of kalman filter in GPS/SINS integrated navigation system had be described.Secondly, the thesis focused on the principle and characteristics of the two kinds of integrated navigation systems, and different status equations and measurement equations was established according to different characteristics of various kalman filters.Finally, the GPS/SINS semi-physical simulation integrated navigation system was established. The carrier locus had be simulated by mathematical method, the output results of gyroscope、accelerometer and reluctance were simulated, then the results were integrated with simulation GPS data in order to establish integrated navigation system. Standard Kalman Filter, Improved Adaptive Filter were designed. Experiment results shows that Improved Adaptive Filter is more precise than standard Kalman Filter, it can improve the precision of the system and make the system more optimal.更多还原