GPS/SINS深组合导航中的关键技术研究
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摘要
组合导航系统作为导航系统的发展方向之一,在航空、航海、武器等领域受到越来越大的重视。两种或多种导航系统的组合以及相同系统不同方式之间的组合成为国内外的研究热点。国内的GPS与SINS的组合导航系统,多以GPS辅助SINS的松、紧组合方式为主,存在抗干扰能力弱、动态性能差的缺陷。采用GPS和SINS相互辅助方式的深组合导航系统提高了系统的抗干扰和动态性能,为实现用于高动态、大机动工作环境,且具有小体积、低功耗、高精度等特点的组合导航系统提供了可行方案。
本文是在国家“863”专题项目“国产化低成本CORS基准站接收机技术”研究的基础上,以“小型、灵巧、组合化制导弹”项目的工程研制为背景,围绕在制导航弹和制导炮弹中的高动态、高集成环境中的应用,研究了GPS与SINS以深组合方式进行组合导航时的关键技术,并进行了数值仿真、半实物仿真、跑车模拟试验、高动态试验以及挂飞、投弹试验。
主要工作内容如下：
(1)对软件接收机基带部分的研究。包括信号捕获、载波的跟踪、码的跟踪以及在SINS的辅助下接收机环路的性能分析,并在此基础上提出了改进的捕获、跟踪算法以及在环路中应用。
(2)对GPS/SINS深组合的组合方案进行了研究,建立了GPS/SINS深组合导航系统的数学模型,对模型的可观性和可测性做了分析。
(3)为解决GPS/SINS深组合模型中非线性的问题,引入了UKF以及PF的算法。并针对GPS/SINS深组合模型状态方程是线性、而观测方程是非线性的的特点,提出了新的UKF算法。以及用遗传操作取代了简单取舍的再采样,设计了有遗传算法辅助的PF算法,提高了PF的滤波性能,并在遗传算法中引入并行处理方法和自适应算子,提高了实时性和局部搜索性能。
(4)为解决导航解算中噪声为不确定性因素的问题,在已提出的针对深组合模型的简化的UKF算法以及有遗传算法辅助的PF算法的基础上,针对性的提出了两种多模型混合估计算法。对不确定的噪声因素进行建模,通过模型概率的计算,得到最终的融合输出。
(5)建立GPS/SINS深组合模型的硬件实验平台。设计了一种基于DSP和FPGA的软件接收机,并把SINS的信息接入接收机环路。并解决了GPS和SINS之间的时间同步问题。
(6)对深组合导航系统进行了地面跑车试验和高动态试验,并在此基础上结合制导弹项目,进行了半实物仿真、模拟轰炸跑车试验、挂飞及投弹试验。投弹试验取得了成功,验证了深组合导航系统设计的正确性与可行性。
As one development direction of the navigation system, the integrated navigation system is under increasing attention in the field of aviation, navigation and weapons. The combination of two or more navigation system and the same system in different combination ways become a research focus at home and abroad. The domestic GPS and SINS integrated navigation system is mainly loose coupled and tight coupled system. There are the defects of weak anti-interference ability and poor dynamic performance. The deeply coupled system using GPS and SINS mutually supportive way improve the anti-jamming and dynamic performance of the integrated navigation system. A feasible method is provided when realizing the characteristics of small size, low power and high precision in integrated navigation system and using for the work environment of high dynamic and large maneuver.
Based on the "863" special project "low-cost domestic production CORS base station receiver technology" and taken the engineering development of "small, smart and combinatorial guided bomb" as the background, research has been done on the key technologies of GPS/SINS deeply coupled navigation system around the application for guided bomb and guided artillery in highly dynamic and highly integrated environment. And numerical simulation, semi-physical simulation, simulation-bombing test by the car, high-dynamic tests, bomb hanging fly and bombing test have been carried through.
The main work includes the following aspects:
(1) Research on baseband of sofeware GPS receiver. Including signal acquisition, carrier tracking, code tracking and performance analysis of the receiver loop with SINS aided. On this basis, the improved algorithms of acquisition and tracking and its applications in the loop are proposed.
(2) Research on the model of GPS/SINS deeply coupled navigation system. Not only a mathematical model of the system is established, but also the observability and testability of the model are analysed.
(3) To solve the nonlinear problem of the model in GPS/SINS deeply coupled navigation system, the UKF (Unscented Kalman Filter) and the PF (Partical Filter) algorithm are introduced. According to the feature of deeply coupled system that state equation is linear and the observation equation is nonlinear, a new simplified UKF is proposed. And using genetic manipulation to replace the simple resampling, a GA (Genetic Algorithm)-aided PF is designed to improve the filtering performance of the PF. Enhancing the function of real time and localsearch through adding self adaptive operator and parallel handling in GA.
(4) To solve the uncertainties of the noise in GPS/SINS deeply coupled navigation system, two new multiple model hybrid estimation algorithms are correspondingly presented based on the simplified UKF and the GA-aided PF. Through modeling for the uncertain noise factors and the calculation of the model probability, obtaining the final fusion output.
(5) Establishing the hardware experimental platform of GPS/SINS deeply coupled navigation model. A design of GPS software receiver based on FPGA and DSP is presented to import the imformation of SINS into receiver loop. And the time synchronization between the GPS and the SINS is solved.
(6) Numerical simulation and semi-physical simulation are carried out for the deeply coupled system, and on this basis, simulation-bombing test by the car, high-dynamic tests, bomb hanging fly and bombing test have been carried through. Bomping test has a success. And verifying the correctness and feasibility of the GPS/SINS deeply coupled navigation system in the guided bombs.
本文是在国家“863”专题项目“国产化低成本CORS基准站接收机技术”研究的基础上,以“小型、灵巧、组合化制导弹”项目的工程研制为背景,围绕在制导航弹和制导炮弹中的高动态、高集成环境中的应用,研究了GPS与SINS以深组合方式进行组合导航时的关键技术,并进行了数值仿真、半实物仿真、跑车模拟试验、高动态试验以及挂飞、投弹试验。
主要工作内容如下：
(1)对软件接收机基带部分的研究。包括信号捕获、载波的跟踪、码的跟踪以及在SINS的辅助下接收机环路的性能分析,并在此基础上提出了改进的捕获、跟踪算法以及在环路中应用。
(2)对GPS/SINS深组合的组合方案进行了研究,建立了GPS/SINS深组合导航系统的数学模型,对模型的可观性和可测性做了分析。
(3)为解决GPS/SINS深组合模型中非线性的问题,引入了UKF以及PF的算法。并针对GPS/SINS深组合模型状态方程是线性、而观测方程是非线性的的特点,提出了新的UKF算法。以及用遗传操作取代了简单取舍的再采样,设计了有遗传算法辅助的PF算法,提高了PF的滤波性能,并在遗传算法中引入并行处理方法和自适应算子,提高了实时性和局部搜索性能。
(4)为解决导航解算中噪声为不确定性因素的问题,在已提出的针对深组合模型的简化的UKF算法以及有遗传算法辅助的PF算法的基础上,针对性的提出了两种多模型混合估计算法。对不确定的噪声因素进行建模,通过模型概率的计算,得到最终的融合输出。
(5)建立GPS/SINS深组合模型的硬件实验平台。设计了一种基于DSP和FPGA的软件接收机,并把SINS的信息接入接收机环路。并解决了GPS和SINS之间的时间同步问题。
(6)对深组合导航系统进行了地面跑车试验和高动态试验,并在此基础上结合制导弹项目,进行了半实物仿真、模拟轰炸跑车试验、挂飞及投弹试验。投弹试验取得了成功,验证了深组合导航系统设计的正确性与可行性。
As one development direction of the navigation system, the integrated navigation system is under increasing attention in the field of aviation, navigation and weapons. The combination of two or more navigation system and the same system in different combination ways become a research focus at home and abroad. The domestic GPS and SINS integrated navigation system is mainly loose coupled and tight coupled system. There are the defects of weak anti-interference ability and poor dynamic performance. The deeply coupled system using GPS and SINS mutually supportive way improve the anti-jamming and dynamic performance of the integrated navigation system. A feasible method is provided when realizing the characteristics of small size, low power and high precision in integrated navigation system and using for the work environment of high dynamic and large maneuver.
Based on the "863" special project "low-cost domestic production CORS base station receiver technology" and taken the engineering development of "small, smart and combinatorial guided bomb" as the background, research has been done on the key technologies of GPS/SINS deeply coupled navigation system around the application for guided bomb and guided artillery in highly dynamic and highly integrated environment. And numerical simulation, semi-physical simulation, simulation-bombing test by the car, high-dynamic tests, bomb hanging fly and bombing test have been carried through.
The main work includes the following aspects:
(1) Research on baseband of sofeware GPS receiver. Including signal acquisition, carrier tracking, code tracking and performance analysis of the receiver loop with SINS aided. On this basis, the improved algorithms of acquisition and tracking and its applications in the loop are proposed.
(2) Research on the model of GPS/SINS deeply coupled navigation system. Not only a mathematical model of the system is established, but also the observability and testability of the model are analysed.
(3) To solve the nonlinear problem of the model in GPS/SINS deeply coupled navigation system, the UKF (Unscented Kalman Filter) and the PF (Partical Filter) algorithm are introduced. According to the feature of deeply coupled system that state equation is linear and the observation equation is nonlinear, a new simplified UKF is proposed. And using genetic manipulation to replace the simple resampling, a GA (Genetic Algorithm)-aided PF is designed to improve the filtering performance of the PF. Enhancing the function of real time and localsearch through adding self adaptive operator and parallel handling in GA.
(4) To solve the uncertainties of the noise in GPS/SINS deeply coupled navigation system, two new multiple model hybrid estimation algorithms are correspondingly presented based on the simplified UKF and the GA-aided PF. Through modeling for the uncertain noise factors and the calculation of the model probability, obtaining the final fusion output.
(5) Establishing the hardware experimental platform of GPS/SINS deeply coupled navigation model. A design of GPS software receiver based on FPGA and DSP is presented to import the imformation of SINS into receiver loop. And the time synchronization between the GPS and the SINS is solved.
(6) Numerical simulation and semi-physical simulation are carried out for the deeply coupled system, and on this basis, simulation-bombing test by the car, high-dynamic tests, bomb hanging fly and bombing test have been carried through. Bomping test has a success. And verifying the correctness and feasibility of the GPS/SINS deeply coupled navigation system in the guided bombs.
引文
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