INS/GPS/EC组合导航系统的设计分析
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。
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.
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。
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.
引文
[1]黄德鸣,程禄.惯性导航系统.哈尔滨工程大学自印讲义,2003:12-14页,19-26页
[2]张树侠,孙静.捷联式惯性导航系统.北京:国防工业出版社,1992
[3]L.D.DiNapoli.The Measurement of Angular Velocities without the Use of Gyros,M.S.thesis,The Moore School of Electrical Engineering,University of Pennsylvania,Philadelphia.1965
[4]Alfred R.Schuler.Measuring Rotational Motion with Linear Accelerometers.IEEE Trans.On AES.1967,3(3):465-472P
[5]薛定宇.基于MATLAB/Simulink的系统仿真技术与应用.清华大学出版社,2002:17-188页
[6]俞济祥.卡尔曼滤波理论及其在惯性导航系统中的应用.西安:西北工业大学出版社.1988
[7]付梦印,邓志红.Kalman滤波理论及其在导航系统中的应用.科学出版社,2003:20-22页,65-66页,79-85页
[8]付梦印,邓志红,张继伟.Kalman滤波理论及其在惯性导航系统中的应用.北京:科学出版社.2003,10:20-26页
[9]Jeng-Heng Chen,S.C.Lee,Daniel B.Strapdown Inertial Measurement Unit by Six Linear Accelerometers.Journal of Guidance,Control and Dynamics.1994,17(2):286-290P
[10]秦永元,张洪钺,汪叔华编著.卡尔曼滤波与组合导航原理.西安:西北工业大学出版社.2004:191-206页
[11]王士元.C高级实用程序设计.清华大学出版社.1996:12-73页
[12]陈哲.捷联惯导系统原理.北京:宇航出版社.1986(12)
[13]谭浩强.C程序设计.北京:清华大学出版社.1991:1-267页
[14]Lee J G.Multiposition alignment of strapdown inertial navigation system.IEEETrans.On AES,1993,29(4):1322-1326P
[15]G.H.Yamamoto,J.I.Brown.Design,Simulation and Evaluation of the Kalman Filter Used to Align the SRAM Missile.AIAA71-948:453-461P
[16]张勇,陈天麒.C/C++语言硬件程序设计.西安:西安电子科技大学出版社.2003:2-53页
[17]Spinney,V.W.(1976):Applications of Global Positioning System as an Attitude Reference for Near Earth Users,ION National Aerospace Meeting,Naval Air Development Center,Warminster,PA,April,1976.
[18]Peng Yingkun,Golnaraghi M F.Inertial NavigationSystem by Integrating Existing Accelerometer Network in a Passenger Vehicle.IEEE PLANS,Position Location and Navigation Symposium,2004:234-242P
[19]杨叔子,吴雅等.时间序列分析的工程应用上、下册.武汉:华中理工大学出版社.2007
[20]王永刚,刘玉文.军事卫星及应用概论.国防工业出版社.2003
[21]黄智.车载导航系统组合定位技术研究.湖南大学博士论文.2006,3
[22]周忠谟,易杰军.GPS卫星测量原理与应用.测绘出版社,1994:79-94页
[23]袁建平,方群,郑谔.GPS在飞行器定位导航中的应用.西北工业大学出版社.2000
[24]蒋贤志.数字电子罗盘误差分析及校正技术研究.现代雷达.2005,6(27)
[25]高承斌.显示角法消除与测定磁罗经自差.中国航海.1981:50-67页
[26]黄汛,高启孝,周山.基于GPS辅助以实现捷联式数字磁罗经自动消差的研究.中国惯性技术学报.2004,10(5):32-35页
[27]徐金华,许江宁,张晓锋等.GPS/磁罗经最优组合导航应用研究.弹箭与制导学报.2006:709-711页
[28]G.H.Yamamoto,J.I.Brown.Design,Simulation and Evaluation of the Kalman Filter Used to Align the SRAM Missile.AIAA71-948:453-461P
[29]Carlson H.A..Federated Filter for Fault-Tolerant Integrated Navigation Systems,Proceedings of IEEE Position Location and Navigation Symposium,1998
[30]申功勋,孙建军.信息融合理论在惯性/天文/GPS组合导航系统中的应用.国防工业出版社.1998
[31]李大威.卡尔曼滤波在INS/GPS组合导航中的应用研究.中北大学硕士学位论文.2006
[32]吴秋平,董景新,万德钧.SINS/GPS组合导航系统在线校正技术研究.导航.2000,12:23-36页
[33]周雪梅.低成本SINS/GPS组合导航系统研究.哈尔滨工程大学工学硕士学位论文.2003
[34]吉训生,王寿荣,许宜申.自适应Kalman滤波在MEMS陀螺仪信号处理中的应用.传感器与微系统.2006,25(9)
[35]杨晓亚.GPS/INS/TAN组合导航系统应用研究.西北工业大学硕士论文.2006,3
[36]Sage A.P.,Husa G.W,Adaptive filtering with unknown prior statistics,Proc.Auto.control conf.1969
[2]张树侠,孙静.捷联式惯性导航系统.北京:国防工业出版社,1992
[3]L.D.DiNapoli.The Measurement of Angular Velocities without the Use of Gyros,M.S.thesis,The Moore School of Electrical Engineering,University of Pennsylvania,Philadelphia.1965
[4]Alfred R.Schuler.Measuring Rotational Motion with Linear Accelerometers.IEEE Trans.On AES.1967,3(3):465-472P
[5]薛定宇.基于MATLAB/Simulink的系统仿真技术与应用.清华大学出版社,2002:17-188页
[6]俞济祥.卡尔曼滤波理论及其在惯性导航系统中的应用.西安:西北工业大学出版社.1988
[7]付梦印,邓志红.Kalman滤波理论及其在导航系统中的应用.科学出版社,2003:20-22页,65-66页,79-85页
[8]付梦印,邓志红,张继伟.Kalman滤波理论及其在惯性导航系统中的应用.北京:科学出版社.2003,10:20-26页
[9]Jeng-Heng Chen,S.C.Lee,Daniel B.Strapdown Inertial Measurement Unit by Six Linear Accelerometers.Journal of Guidance,Control and Dynamics.1994,17(2):286-290P
[10]秦永元,张洪钺,汪叔华编著.卡尔曼滤波与组合导航原理.西安:西北工业大学出版社.2004:191-206页
[11]王士元.C高级实用程序设计.清华大学出版社.1996:12-73页
[12]陈哲.捷联惯导系统原理.北京:宇航出版社.1986(12)
[13]谭浩强.C程序设计.北京:清华大学出版社.1991:1-267页
[14]Lee J G.Multiposition alignment of strapdown inertial navigation system.IEEETrans.On AES,1993,29(4):1322-1326P
[15]G.H.Yamamoto,J.I.Brown.Design,Simulation and Evaluation of the Kalman Filter Used to Align the SRAM Missile.AIAA71-948:453-461P
[16]张勇,陈天麒.C/C++语言硬件程序设计.西安:西安电子科技大学出版社.2003:2-53页
[17]Spinney,V.W.(1976):Applications of Global Positioning System as an Attitude Reference for Near Earth Users,ION National Aerospace Meeting,Naval Air Development Center,Warminster,PA,April,1976.
[18]Peng Yingkun,Golnaraghi M F.Inertial NavigationSystem by Integrating Existing Accelerometer Network in a Passenger Vehicle.IEEE PLANS,Position Location and Navigation Symposium,2004:234-242P
[19]杨叔子,吴雅等.时间序列分析的工程应用上、下册.武汉:华中理工大学出版社.2007
[20]王永刚,刘玉文.军事卫星及应用概论.国防工业出版社.2003
[21]黄智.车载导航系统组合定位技术研究.湖南大学博士论文.2006,3
[22]周忠谟,易杰军.GPS卫星测量原理与应用.测绘出版社,1994:79-94页
[23]袁建平,方群,郑谔.GPS在飞行器定位导航中的应用.西北工业大学出版社.2000
[24]蒋贤志.数字电子罗盘误差分析及校正技术研究.现代雷达.2005,6(27)
[25]高承斌.显示角法消除与测定磁罗经自差.中国航海.1981:50-67页
[26]黄汛,高启孝,周山.基于GPS辅助以实现捷联式数字磁罗经自动消差的研究.中国惯性技术学报.2004,10(5):32-35页
[27]徐金华,许江宁,张晓锋等.GPS/磁罗经最优组合导航应用研究.弹箭与制导学报.2006:709-711页
[28]G.H.Yamamoto,J.I.Brown.Design,Simulation and Evaluation of the Kalman Filter Used to Align the SRAM Missile.AIAA71-948:453-461P
[29]Carlson H.A..Federated Filter for Fault-Tolerant Integrated Navigation Systems,Proceedings of IEEE Position Location and Navigation Symposium,1998
[30]申功勋,孙建军.信息融合理论在惯性/天文/GPS组合导航系统中的应用.国防工业出版社.1998
[31]李大威.卡尔曼滤波在INS/GPS组合导航中的应用研究.中北大学硕士学位论文.2006
[32]吴秋平,董景新,万德钧.SINS/GPS组合导航系统在线校正技术研究.导航.2000,12:23-36页
[33]周雪梅.低成本SINS/GPS组合导航系统研究.哈尔滨工程大学工学硕士学位论文.2003
[34]吉训生,王寿荣,许宜申.自适应Kalman滤波在MEMS陀螺仪信号处理中的应用.传感器与微系统.2006,25(9)
[35]杨晓亚.GPS/INS/TAN组合导航系统应用研究.西北工业大学硕士论文.2006,3
[36]Sage A.P.,Husa G.W,Adaptive filtering with unknown prior statistics,Proc.Auto.control conf.1969