GPS/INS组合导航定位定向系统研究
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摘要
随着科学技术的飞速发展，单一的导航定位定向系统已经不能满足我国在军事领域和民用领域对导航、定位、定向精度的要求，组合导航定位定向系统以其较高的精度、低廉的成本逐渐被应用于各个领域。所以，以GPS与INS相结合构成的组合导航系统成为导航定位定向系统的一个发展方向。
本论文针对GPS／INS组合导航定位定向系统的一些技术问题和算法进行了探讨：研究了惯性测量元件(陀螺仪、加速度计)的误差补偿算法及其误差模型中误差系数的标定方法；研究了用双自由度挠性陀螺和加速度计进行精确寻北(定向)的原理，推导了带误差补偿的寻北计算公式，并利用寻北结果实现了快速、准确的初始对准，通过实验达到了满意的效果；推导了在新坐标系(初始点惯性地理坐标系)中惯导系统的导航定位算法及误差方程；讨论了GPS／INS组合导航定位定向系统的组合导航算法，推导出在新坐标系中组合导航卡尔曼滤波器的状态方程和量测方程等。
With the development of science and technology , single navigation locating and directing system can't satisfy the need to the precision of navigation and locating and directing in the military field and public field .The integrated navigation system have been applied to many field for it's high precision and lower cost .The integrated navigation system composed of inertial navigation system and Global Position System have been to the trend of the navigation and locating and directing system .
This thesis discusses some technical problem of GPS/INS integrated navigation system : deduces the error compensation algorithm of the error model of inertial measurement component(such as gyroscope and accelerometer ) , and presents the method of separating the coefficient of the error model; discusses the theory of high accurate north-seeking with double free dimension flexible gyroscope and accelerometer ,infers the north-seeking calculate-formula with error compensation , achieves fast and exact inertial alignment with result of the north-seeking ,and test shows the results are satisfying ; deduces the algorithm and error equation of the strap-down navigation system with the new coordinates (inertial position geography inertial coordinates); study the algorithm of INS/GPS integrated navigation system , infers the state equation and measurement equation of the Kalman filter within the integrated navigation system etc.
本论文针对GPS／INS组合导航定位定向系统的一些技术问题和算法进行了探讨：研究了惯性测量元件(陀螺仪、加速度计)的误差补偿算法及其误差模型中误差系数的标定方法；研究了用双自由度挠性陀螺和加速度计进行精确寻北(定向)的原理，推导了带误差补偿的寻北计算公式，并利用寻北结果实现了快速、准确的初始对准，通过实验达到了满意的效果；推导了在新坐标系(初始点惯性地理坐标系)中惯导系统的导航定位算法及误差方程；讨论了GPS／INS组合导航定位定向系统的组合导航算法，推导出在新坐标系中组合导航卡尔曼滤波器的状态方程和量测方程等。
With the development of science and technology , single navigation locating and directing system can't satisfy the need to the precision of navigation and locating and directing in the military field and public field .The integrated navigation system have been applied to many field for it's high precision and lower cost .The integrated navigation system composed of inertial navigation system and Global Position System have been to the trend of the navigation and locating and directing system .
This thesis discusses some technical problem of GPS/INS integrated navigation system : deduces the error compensation algorithm of the error model of inertial measurement component(such as gyroscope and accelerometer ) , and presents the method of separating the coefficient of the error model; discusses the theory of high accurate north-seeking with double free dimension flexible gyroscope and accelerometer ,infers the north-seeking calculate-formula with error compensation , achieves fast and exact inertial alignment with result of the north-seeking ,and test shows the results are satisfying ; deduces the algorithm and error equation of the strap-down navigation system with the new coordinates (inertial position geography inertial coordinates); study the algorithm of INS/GPS integrated navigation system , infers the state equation and measurement equation of the Kalman filter within the integrated navigation system etc.
引文
(1) 徐延万等：“控制系统” (上、中册) 宇航工业出版社 1989．8
(2) 董绪荣、张守信等：“GPS／INS组合导航定位及应用” 国防科技大学出版社 1998
(3) 袁信等：“导航系统” 航空工业出版社 1993．12
(4) 陈哲等：“捷联惯导系统原理”宇航工业出版社 1986．1
(5) 秦永元等：“卡尔曼滤波与组合导航原理” 西工大出版社 1998
(6) 赵忠：“SINS／GPS卡尔曼滤波软件设计报眚” 1995
(7) 赵忠：“捷联惯导系统研究” 《压电与声光》 2002第2期
(8) 任思聪：“实用惯导系统原理” 宇航工业出版社 1988．8
(9) 以光衢：“惯性导航原理” 航空工业出版社 1988．9
(10) 万德钧：“惯性导航初始对准” 东南大学出版社 1998．12
(11) 张宗麟：“惯性导航与组合导航” 航空工业出版社 2000
(12) 于波、陈云相等：“惯性技术” 北京航空航天大学 1994．8
(13) “QJ1079-86陀螺仪精度指标计测试方法” 航天工业部 1987
(14) 徐绍铨等：“GPS测量原理及应用” 武汉大学出版社 2002．10
(15) 胡小平等：“自主导航理论与应用” 国防科大出版社 2002．10
(16) 罗建军等：“卫星定位于地形辅助惯性导航” 西工大出版社2003．4
(17) 关肇直等：“线性控制系统理论在惯性导航中的应用” 科学出版社 1984．2
(18) 卜继军等：“陀螺寻北仪二位置寻北方案” 《中国惯性技术学报》 2002．6
(19) 陈家斌等：“动调陀螺寻北系统及误差分析” 《北京理工大学学报》1997．6
(20) 顾启泰等：“自动找北仪的检测技术” 《中国惯性技术学报》1994．2
(21) 贾九春等：“一种新的捷联姿态矩阵的更新算法研究”《惯导与仪表》 1995．1
(22) I.T.Bar,etal: "control Theoretic Approach to Inertial Navigation System ",
AIAA paper 87-2591,1981
(23) C.S.Edwards and R.J.Chaplin: "Smart Inertial Measurement Units and the Compensation of Dynamically Tuned Gyroscopes for Strapdown Inertial System", The 31st Symposium of the AGARD Guidance and Contral penel,London Oct, 1980
(24) George T Schmudt.GPS/INS Technology Trends for Military System. AIAA-Guidance, Navigation, and Control ConfErence. New Orleans, 1a, 1997
(25) Bar-Itzhack I Y.Control Theoretic Approach to Inertial Navigation Systems.Journal of Guidaance, Control and Dynamics, 1988,11
(26) Lapucha D.Precise GPS/INS Positioning for a Highway Inventory System. M.Sc. Thesis. University of Calgary, 1990
(27) Dr. Reha Metin Alkan, Prof Dr. Orhan Baykal Survay Boat Attitude Determination With GPS/IMU System The Journal Of Navigation Vol.54NO. 1 January 2001
(28) Bar-Itzhack I Y, Goshen-Meskin D. Unified approach to inertial navigation system error modeling. Journal of Guidance, control and Dynamics, 1992,15(3):648-653
(2) 董绪荣、张守信等：“GPS／INS组合导航定位及应用” 国防科技大学出版社 1998
(3) 袁信等：“导航系统” 航空工业出版社 1993．12
(4) 陈哲等：“捷联惯导系统原理”宇航工业出版社 1986．1
(5) 秦永元等：“卡尔曼滤波与组合导航原理” 西工大出版社 1998
(6) 赵忠：“SINS／GPS卡尔曼滤波软件设计报眚” 1995
(7) 赵忠：“捷联惯导系统研究” 《压电与声光》 2002第2期
(8) 任思聪：“实用惯导系统原理” 宇航工业出版社 1988．8
(9) 以光衢：“惯性导航原理” 航空工业出版社 1988．9
(10) 万德钧：“惯性导航初始对准” 东南大学出版社 1998．12
(11) 张宗麟：“惯性导航与组合导航” 航空工业出版社 2000
(12) 于波、陈云相等：“惯性技术” 北京航空航天大学 1994．8
(13) “QJ1079-86陀螺仪精度指标计测试方法” 航天工业部 1987
(14) 徐绍铨等：“GPS测量原理及应用” 武汉大学出版社 2002．10
(15) 胡小平等：“自主导航理论与应用” 国防科大出版社 2002．10
(16) 罗建军等：“卫星定位于地形辅助惯性导航” 西工大出版社2003．4
(17) 关肇直等：“线性控制系统理论在惯性导航中的应用” 科学出版社 1984．2
(18) 卜继军等：“陀螺寻北仪二位置寻北方案” 《中国惯性技术学报》 2002．6
(19) 陈家斌等：“动调陀螺寻北系统及误差分析” 《北京理工大学学报》1997．6
(20) 顾启泰等：“自动找北仪的检测技术” 《中国惯性技术学报》1994．2
(21) 贾九春等：“一种新的捷联姿态矩阵的更新算法研究”《惯导与仪表》 1995．1
(22) I.T.Bar,etal: "control Theoretic Approach to Inertial Navigation System ",
AIAA paper 87-2591,1981
(23) C.S.Edwards and R.J.Chaplin: "Smart Inertial Measurement Units and the Compensation of Dynamically Tuned Gyroscopes for Strapdown Inertial System", The 31st Symposium of the AGARD Guidance and Contral penel,London Oct, 1980
(24) George T Schmudt.GPS/INS Technology Trends for Military System. AIAA-Guidance, Navigation, and Control ConfErence. New Orleans, 1a, 1997
(25) Bar-Itzhack I Y.Control Theoretic Approach to Inertial Navigation Systems.Journal of Guidaance, Control and Dynamics, 1988,11
(26) Lapucha D.Precise GPS/INS Positioning for a Highway Inventory System. M.Sc. Thesis. University of Calgary, 1990
(27) Dr. Reha Metin Alkan, Prof Dr. Orhan Baykal Survay Boat Attitude Determination With GPS/IMU System The Journal Of Navigation Vol.54NO. 1 January 2001
(28) Bar-Itzhack I Y, Goshen-Meskin D. Unified approach to inertial navigation system error modeling. Journal of Guidance, control and Dynamics, 1992,15(3):648-653