基于载波相位的SINS/GPS组合导航系统的研究
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摘要
随着各种新式武器的不断发展和广泛应用,普通的导航系统无法满足高精度和高可靠性的要求。本论文主要针对如何进一步提高组合导航系统的实时定位精度和可靠性这一问题进行了深入的研究,研究内容包括以下几个方面:
1通过对捷联惯导系统原理的研究,建立了指北方位捷联惯导系统力学编排方程,推导了其误差方程并建立了惯性元件的误差模型,而且对捷联惯导系统做了仿真,包括陀螺仪、加速度计以及载体速度、位置和姿态等;
2对于SINS/GPS组合导航,论文采用基于载波相位双差测量技术GPS和SINS进行松组合的组合方案,保证GPS和SINS的独立性,增强了整体系统的稳定性和可靠性。系统采用消除大部分公共误差的GPS载波相位双差为观测量,对惯导位置误差直接进行观测并加以校正,以得到高精度的定位信息。该方案通过仿真证明:在组合的条件下比纯惯导条件的数据精度得到了极大的提高,满足了导航系统精度的要求;
3为解决GPS载波相位中的周跳问题,本文评估了一种利用组合导航系统短期提供的高精度的姿态信息对GPS进行周跳检测的方法。应用此方法,无论在静态还是动态情况下,都可以快速且比较准确地检测周跳;在检测周跳的基础上,研究GPS确定整周模糊度的方法以补偿周跳产生的误差。在提高了GPS性能的同时,也提高了组合导航系统的性能。
The Strap-down Inertial Navigation System (SINS) and Global Positioning System (GPS) are highly complementary to each other. Integrated navigation technology can effetively improve the Performance of Navigation system. However,the usual integrated GPS/SINS navigation system couldn’t meet the demand of high precision. This dissertation has mainly developed research work on improve the real-time position accuracy of the integrated navigation system.The main works include:
1. The theory of SINS has been introduced briefly,and the gyroscopes,accelerometers,as well as the carrier’s trajectory and attitude have been simulated.
2. With GPS and SINS error equation,the position,velocity integration based on single frequency carrier phase are established respectively. According to the result of simulation,we can conclude:The integrated GPS/SINS navigation system based on single frequency carrier phase has a promsing prospect in military filed. a scheme of high precision integrated GPS/SINS navigation system based on single frequency carrier phase is proposed in the dissertation.It could observe directly and compensate SINS position error by using the high precision double-differenced GPS carrier phase measurements.
3. The computation of integer ambiguity and correction of cycle slip are the two important factors for acquiring accurate result in the appalication of carrier phase. Base on current research, this paper adopts a new algorithm of integer ambiguity. In order to resolve the cycle-slip of GPS carrier phase measurements,a fast algorithm is put forward to repair cycle slips and solve integer ambiguities renewedly by using the high precision position from integrated navigation system and the characteristics of SINS.
1通过对捷联惯导系统原理的研究,建立了指北方位捷联惯导系统力学编排方程,推导了其误差方程并建立了惯性元件的误差模型,而且对捷联惯导系统做了仿真,包括陀螺仪、加速度计以及载体速度、位置和姿态等;
2对于SINS/GPS组合导航,论文采用基于载波相位双差测量技术GPS和SINS进行松组合的组合方案,保证GPS和SINS的独立性,增强了整体系统的稳定性和可靠性。系统采用消除大部分公共误差的GPS载波相位双差为观测量,对惯导位置误差直接进行观测并加以校正,以得到高精度的定位信息。该方案通过仿真证明:在组合的条件下比纯惯导条件的数据精度得到了极大的提高,满足了导航系统精度的要求;
3为解决GPS载波相位中的周跳问题,本文评估了一种利用组合导航系统短期提供的高精度的姿态信息对GPS进行周跳检测的方法。应用此方法,无论在静态还是动态情况下,都可以快速且比较准确地检测周跳;在检测周跳的基础上,研究GPS确定整周模糊度的方法以补偿周跳产生的误差。在提高了GPS性能的同时,也提高了组合导航系统的性能。
The Strap-down Inertial Navigation System (SINS) and Global Positioning System (GPS) are highly complementary to each other. Integrated navigation technology can effetively improve the Performance of Navigation system. However,the usual integrated GPS/SINS navigation system couldn’t meet the demand of high precision. This dissertation has mainly developed research work on improve the real-time position accuracy of the integrated navigation system.The main works include:
1. The theory of SINS has been introduced briefly,and the gyroscopes,accelerometers,as well as the carrier’s trajectory and attitude have been simulated.
2. With GPS and SINS error equation,the position,velocity integration based on single frequency carrier phase are established respectively. According to the result of simulation,we can conclude:The integrated GPS/SINS navigation system based on single frequency carrier phase has a promsing prospect in military filed. a scheme of high precision integrated GPS/SINS navigation system based on single frequency carrier phase is proposed in the dissertation.It could observe directly and compensate SINS position error by using the high precision double-differenced GPS carrier phase measurements.
3. The computation of integer ambiguity and correction of cycle slip are the two important factors for acquiring accurate result in the appalication of carrier phase. Base on current research, this paper adopts a new algorithm of integer ambiguity. In order to resolve the cycle-slip of GPS carrier phase measurements,a fast algorithm is put forward to repair cycle slips and solve integer ambiguities renewedly by using the high precision position from integrated navigation system and the characteristics of SINS.
引文
[1]赵琳.卫星导航系统[M].哈尔滨工程大学出版社, 2001
[2]王惠南. GPS导航原理与应用[M].科学出版社, 2003.
[3]孙枫,袁赣南,张晓红.组合导航系统.哈尔滨工程大学出版社.
[4]李滋刚,万德钧.捷联式惯性导航技术.中国船舶信息中心.
[5]周媛媛.基于非线性模型的组合导航滤波算法研究.上海交通大学硕士学位论文.
[6]中国人民解放军总装备部军事训练教材编辑工作委员会. GPS技术与应用
[7]黄伟.采用卡尔曼滤波器的GPS/INS组合系统模拟仿真.导航.
[8]李磊. GPS/SINS深度组合导航系统研究.上海交通大学硕士学位论文.
[9]董冀. MTi微惯性航姿系统/GPS组合技术研究.哈尔滨工程大学硕士学位论文. 2009
[10] Hyun-Soo Kim, Sung-chun Bu, Gyu-in Lee. An Ultra-tightly coupled GPS/INS Integration using Federated Kalman Filter. ION GPS 2003,9-12 Sep 2003, Portland,OR.
[11]万德钧,房建成.惯性导航初始对准技术.东南大学出版社.
[12]李亮. SINS/DVL组合导航技术研究.哈尔滨工程大学硕士学位论文.
[13]杜习奇. GPS与捷联惯导组合导航系统研究.南京理工大学硕士学位论文.
[14]温武等. INS/GPS组合导航集中式卡尔曼滤波器的仿真研究.
[15] Port, Bar-Itzhack.I.Y., Effect of Acceleration Switching During INS In-Flight Alignment. Journal of Guidance and Control. Vol.4.
[16] Lee. J.G.. Park,C.G. and Park. H.W.. Multiposition Alignment of Strapdown Inertial Navigation System[J]. IEEE Transactions on Aerospace and Electronic Systems. October 1993,29(4).
[17] Baziw John and Leondes, C.T. In-Flight Alignment and Calibration of Inertial Measurement Unit-PartⅠ: General Formulation[J]. IEEETransactions on Aerospace and Electronic Systems.
[18]邱致和,万方义译. GPS原理与应用[M].电子工业出版社, 2002.08
[19]陈明辉. SINS误差特性及组合导航对准的研究.哈尔滨工程大学硕士学位论文.
[20]王惠南等.采用卡尔曼滤波器的GPS/INS姿态组合系统研究.中国惯性技术学报.
[21] A.M.Scheneider, Kalman Filter Formulations for Transfer Alignment of Strapdown Inertial Units[R].
[22]聂奇.非线性滤波在导航中的应用.哈尔滨工程大学博士论文. 2007
[23]岳淼. GPS载波相位高精度惯性导航系统的研究.南京航空航天大学硕士学位论文.
[24]刘志俭. GPS载波相位差分技术、捷联惯性导航系统初始对准技术及其组合技术研究.国防科学技术大学博士学位论文.
[25]黄德鸣,程禄.惯性导航系统.国防工业出版社.
[26]陈哲.捷联惯导系统原理.宇航出版社.
[27]曹晓平,汪柏年.捷联惯性系统的误差及其特性分析.电光与控制. 2004.
[28]刘春卓.基于载波相位的SINS/GPS系统的研究.西北工业大学硕士学位论文
[29]袁信,俞济祥,陈哲.导航系统.北京:航空工业出版社, 1993.
[30]董绪荣,张守信,华仲春.GPS/INS组合导航定位及其应用.国防科技大学出版社.
[31]王艳冬,黄继勋,范跃祖. GPS/INS组合导航系统半实物仿真研究.北京航空航天大学学报.
[32]孙红星.差分GPS/INS组合定位定姿及其在MMS中的应用.武汉大学出版社.博士学位论文
[33]刘志俭,胡小平,贺汉根.惯导辅助的基于GPS的航向姿态参考系统的设计与实现.中国惯性技术学报.
[34]刘基余. GPS卫星导航定位原理与方法[M].科学出版社, 2003
[35]杨艳娟,田蔚风,金志华.一种新的INS/GPS组合导航技术.中国惯性65技术学报.
[36] Mc Millan J C. Sensor integration options for low cost position & attitude determination[A]. Proceedings of the Position Location and Navigation Symposium[C]. Las Vegas. 1994
[37]王惠南,吴智博.采用卡尔曼滤波器的GPS/INS姿态组合系统的研究.中国惯性技术学报.
[38]秦永元,张洪钺,汪叔华.卡尔曼滤波与组合导航原理.西北工业大学出版社.
[39]谢波,裴听国,万彦辉.捷联惯导系统动基座初始对准中的可观测性研究.导航与控制.
[40]赵伟,万德均,刘建业,袁信. GPS载波相位整周模糊度的在航快速算法研究.中国惯性技术学报.
[41] Oleg S. Salychev,Applied Inertial Navigational Problems and Solutions. Moscow,Russia:BMSTU. 2004.
[42]杨阳.捷联惯导系统动基座初始对准研究与仿真.西北工业大学硕士学位论文.
[43]赵伟,万德均,刘建业.一种用INS辅助GPS周跳检测和求解整周模糊度的方法.中国空间科学技术.
[44]王艳东,范跃祖.捷联惯导系统多位置对准仿真研究.计算机仿真.
[45]生仁军. GPS载波相位定位中的周跳探测方法的研究.东南大学硕士学位论文.
[46] Jordon J.W.,An Accurate Strapdown Direction Cosine Algorithms.Report TND-5384,NASA,Washington,1969.
[47] Aleksandar Jovancevic,Suman Ganguly. Real-Time Implementation of a Deeply Integrated GNSS-INS Architecture. ION GNSS 18th International Technical Meeting of the satellite Division.13-16 Sep2005, Long Beach, CA.
[48] Grewal S, Weill R. GPS, Inertial Navigation, and Integration[M]. 2nd Edition, John Wiley&Sons, Inc. 2007.
[49] Gilmore J.P.,Modular Strapdown Guidance Unit with Embedded
Microprocessors.Journal of Guidance.Vol.3,NO.1,January.1980.
[50] Robin B.Miller,A New Strapdown Attitude Algorithm,Journal of Guidance,Vol.6,NO.4,July-August 1983.
[51]张树侠,孙静.捷联式惯性导航系统.国防工业出版社.
[52]袁洪,万卫星,宁百齐,李静年.基于三差解检测与修复GPS载波相位周跳新方法.测绘学报.
[53] Goshen-Meskin, D. and Bar-Itzhack, I.Y., Observability Analysis of Piece-Wise Constant System-Part I: Application to Inertial Navigation in-flight Alignment[J]. IEEE Transaction on Aerospace and Electronic Systems. October 1992,28(4).
[2]王惠南. GPS导航原理与应用[M].科学出版社, 2003.
[3]孙枫,袁赣南,张晓红.组合导航系统.哈尔滨工程大学出版社.
[4]李滋刚,万德钧.捷联式惯性导航技术.中国船舶信息中心.
[5]周媛媛.基于非线性模型的组合导航滤波算法研究.上海交通大学硕士学位论文.
[6]中国人民解放军总装备部军事训练教材编辑工作委员会. GPS技术与应用
[7]黄伟.采用卡尔曼滤波器的GPS/INS组合系统模拟仿真.导航.
[8]李磊. GPS/SINS深度组合导航系统研究.上海交通大学硕士学位论文.
[9]董冀. MTi微惯性航姿系统/GPS组合技术研究.哈尔滨工程大学硕士学位论文. 2009
[10] Hyun-Soo Kim, Sung-chun Bu, Gyu-in Lee. An Ultra-tightly coupled GPS/INS Integration using Federated Kalman Filter. ION GPS 2003,9-12 Sep 2003, Portland,OR.
[11]万德钧,房建成.惯性导航初始对准技术.东南大学出版社.
[12]李亮. SINS/DVL组合导航技术研究.哈尔滨工程大学硕士学位论文.
[13]杜习奇. GPS与捷联惯导组合导航系统研究.南京理工大学硕士学位论文.
[14]温武等. INS/GPS组合导航集中式卡尔曼滤波器的仿真研究.
[15] Port, Bar-Itzhack.I.Y., Effect of Acceleration Switching During INS In-Flight Alignment. Journal of Guidance and Control. Vol.4.
[16] Lee. J.G.. Park,C.G. and Park. H.W.. Multiposition Alignment of Strapdown Inertial Navigation System[J]. IEEE Transactions on Aerospace and Electronic Systems. October 1993,29(4).
[17] Baziw John and Leondes, C.T. In-Flight Alignment and Calibration of Inertial Measurement Unit-PartⅠ: General Formulation[J]. IEEETransactions on Aerospace and Electronic Systems.
[18]邱致和,万方义译. GPS原理与应用[M].电子工业出版社, 2002.08
[19]陈明辉. SINS误差特性及组合导航对准的研究.哈尔滨工程大学硕士学位论文.
[20]王惠南等.采用卡尔曼滤波器的GPS/INS姿态组合系统研究.中国惯性技术学报.
[21] A.M.Scheneider, Kalman Filter Formulations for Transfer Alignment of Strapdown Inertial Units[R].
[22]聂奇.非线性滤波在导航中的应用.哈尔滨工程大学博士论文. 2007
[23]岳淼. GPS载波相位高精度惯性导航系统的研究.南京航空航天大学硕士学位论文.
[24]刘志俭. GPS载波相位差分技术、捷联惯性导航系统初始对准技术及其组合技术研究.国防科学技术大学博士学位论文.
[25]黄德鸣,程禄.惯性导航系统.国防工业出版社.
[26]陈哲.捷联惯导系统原理.宇航出版社.
[27]曹晓平,汪柏年.捷联惯性系统的误差及其特性分析.电光与控制. 2004.
[28]刘春卓.基于载波相位的SINS/GPS系统的研究.西北工业大学硕士学位论文
[29]袁信,俞济祥,陈哲.导航系统.北京:航空工业出版社, 1993.
[30]董绪荣,张守信,华仲春.GPS/INS组合导航定位及其应用.国防科技大学出版社.
[31]王艳冬,黄继勋,范跃祖. GPS/INS组合导航系统半实物仿真研究.北京航空航天大学学报.
[32]孙红星.差分GPS/INS组合定位定姿及其在MMS中的应用.武汉大学出版社.博士学位论文
[33]刘志俭,胡小平,贺汉根.惯导辅助的基于GPS的航向姿态参考系统的设计与实现.中国惯性技术学报.
[34]刘基余. GPS卫星导航定位原理与方法[M].科学出版社, 2003
[35]杨艳娟,田蔚风,金志华.一种新的INS/GPS组合导航技术.中国惯性65技术学报.
[36] Mc Millan J C. Sensor integration options for low cost position & attitude determination[A]. Proceedings of the Position Location and Navigation Symposium[C]. Las Vegas. 1994
[37]王惠南,吴智博.采用卡尔曼滤波器的GPS/INS姿态组合系统的研究.中国惯性技术学报.
[38]秦永元,张洪钺,汪叔华.卡尔曼滤波与组合导航原理.西北工业大学出版社.
[39]谢波,裴听国,万彦辉.捷联惯导系统动基座初始对准中的可观测性研究.导航与控制.
[40]赵伟,万德均,刘建业,袁信. GPS载波相位整周模糊度的在航快速算法研究.中国惯性技术学报.
[41] Oleg S. Salychev,Applied Inertial Navigational Problems and Solutions. Moscow,Russia:BMSTU. 2004.
[42]杨阳.捷联惯导系统动基座初始对准研究与仿真.西北工业大学硕士学位论文.
[43]赵伟,万德均,刘建业.一种用INS辅助GPS周跳检测和求解整周模糊度的方法.中国空间科学技术.
[44]王艳东,范跃祖.捷联惯导系统多位置对准仿真研究.计算机仿真.
[45]生仁军. GPS载波相位定位中的周跳探测方法的研究.东南大学硕士学位论文.
[46] Jordon J.W.,An Accurate Strapdown Direction Cosine Algorithms.Report TND-5384,NASA,Washington,1969.
[47] Aleksandar Jovancevic,Suman Ganguly. Real-Time Implementation of a Deeply Integrated GNSS-INS Architecture. ION GNSS 18th International Technical Meeting of the satellite Division.13-16 Sep2005, Long Beach, CA.
[48] Grewal S, Weill R. GPS, Inertial Navigation, and Integration[M]. 2nd Edition, John Wiley&Sons, Inc. 2007.
[49] Gilmore J.P.,Modular Strapdown Guidance Unit with Embedded
Microprocessors.Journal of Guidance.Vol.3,NO.1,January.1980.
[50] Robin B.Miller,A New Strapdown Attitude Algorithm,Journal of Guidance,Vol.6,NO.4,July-August 1983.
[51]张树侠,孙静.捷联式惯性导航系统.国防工业出版社.
[52]袁洪,万卫星,宁百齐,李静年.基于三差解检测与修复GPS载波相位周跳新方法.测绘学报.
[53] Goshen-Meskin, D. and Bar-Itzhack, I.Y., Observability Analysis of Piece-Wise Constant System-Part I: Application to Inertial Navigation in-flight Alignment[J]. IEEE Transaction on Aerospace and Electronic Systems. October 1992,28(4).