【作者】 周雪梅；

【导师】 吴简彤；

【作者基本信息】 哈尔滨工程大学 ， 控制理论与控制工程， 2003， 硕士

【摘要】 捷联惯导系统是近年来惯性技术的一个发展方向。在捷联惯导系统中，用数学平台代替了常规的物理平台。由于捷联惯导系统具有的一系列优点，在许多应用中有取代平台式惯导系统的趋势。本文以一个低成本压电陀螺捷联惯导系统及其与GPS的组合为对象，做了以下几方面的研究工作。为今后工程样机的研制提供了坚实的基础。 提供了对压电式陀螺捷联惯性组件测试的方法，本方法的特点在于测试方法切实可行，并且整个测试过程所需的时间短，具有较高的工程实用价值。 采用了工程上实用的四元数捷联导航系统的算法，分析了系统误差源，仿真验证了捷联惯导系统在有惯性器件误差及初始对准误差情况下的输出变化。在以上研究的基础上，对一个实际的压电式捷联系统进行了静态测试。实验结果表明本文采用的算法是有效的，编制的程序能够正确运行。 本文还研究了SINS／GPS组合导航系统，通过对各个子系统的分析，分别建立了它们的误差模型，确定了组合模式，设计了一个集中式卡尔曼滤波器。仿真结果表明了该组合可以提高系统精度，特别是位置和速度的精度有明显的提高。更多还原

【Abstract】 Strapdown inertial navigation system is a trend of inertial technology in recent years. In SINS, physical platform of traditional INS is replaced by mathematical platform. Because of these advantages of SINS, it is on the trend of replacing flat inertial navigation system in many applications. This paper regards a low cost piezoelectricity gyro SINS and integration of it and GPS as the target, make the research work of the following aspects. To project researches of prototype of a machine offer the Solid foundation.Offer a inertia method that test to piezoelectricity gyro strapdown IMU, characteristic of method this feasible to lie in method of testing, Test time that the course take short, have higher project practical value while being whole.Adopt project practical quaternion algorithm of strapdown navigation system, Analyze systematic error source, emulation prove the output change of SINS in there is device error of inertia and the initial condition of collimation error. On the basis of the above research, a reality piezoelectricity gyro SINS has carried out the test of static quiet. Test result show this paper adopt algorithm is effective; draw up program can run really certainly correctly.This paper has still studied SINS/GPS integrated navigation system, parts through the analysis for every subsystem to establish the error pattern of them, have determined combination pattern, and have designed a centralized Kerman filter. Emulate have shown this combination as a result may raise systematic precision, have obvious raising especially the precision of location and speed.更多还原