INS/GPS实时仿真系统研究
摘要
单一的导航系统很难满足现代飞机、导弹导航制导的精度、可靠性以及可用性等方面的要求。如果能将高精度的GPS和高可靠的INS综合，则能构成一种比较理想的导航系统。利用现代仿真技术开发在空间、时间上都与真实系统十分相似的INS／GPS组合导航仿真器，对于研制满足要求的INS／GPS组合导航系统具有十分重要的意义。
论文课题主要是：为某国防科研项目“INS／GPS组合导航仿真器研制”研制“INS导航仿真子系统”。论文以此为核心展开：首先详细讨论了陀螺和加速度计的数学模型、指北式捷联惯性导航系统初始对准和导航解算的算法、飞行轨迹数据生成算法、INS／GPS组合导航算法；然后利用VISUAL C++6.0开发出飞行轨迹数据生成系统、捷联惯性导航实时仿真系统。仿真系统综合了惯性器件实时仿真、捷联惯性导航实时仿真，并具备器件性能参数设置、仿真数据动态实时显示和输出、实时存盘、数据回放功能。测试结果显示：仿真系统工作稳定可靠，仿真结果令人满意。
The single navigation can hardly to meet the requirement of controlling and
guiding modern airplane or missile, for example: the precision, the reliability and the applicability. If the high-precision GPS and high-reliability INS can be combined, a kind of more ideal navigation system will be constituted. To develop the INS/GPS integrated navigation simulator, which is similar to the real-system at the aspects of time and structure by using modern simulating technology, is significantly important for studying INS/GPS integrated navigation system which can fulfill the requirement.
This thesis is mainly about studying "INS navigation simulating subsystem" for "the studying of "INS/GPS integrated navigation simulator". Based on this main idea, first the thesis discusses the mathematics model of gyro and accelemeter, the initial alignment of north-pointed strapdown inertial navigation system, the method of calculation navigation, the method of generating flight orbit data, the method of INS/GPS integrated navigation in detail. Then the thesis develops the system generating flight orbit data and the system of real-time simulating strapdown inertial navigation with VC++6.0. The simulating system combines the inertial sensor real-time simulator and strapdown inertial navigation real-time simulator. Its functions are: the setup of sensor performance parameter, the simulating data dynamic and real-time display and output, real-time save, simulating data to. disk, the function of data show-back. The result shows that the simulating system is steady and reliable and the simulating result is satisfying.
论文课题主要是：为某国防科研项目“INS／GPS组合导航仿真器研制”研制“INS导航仿真子系统”。论文以此为核心展开：首先详细讨论了陀螺和加速度计的数学模型、指北式捷联惯性导航系统初始对准和导航解算的算法、飞行轨迹数据生成算法、INS／GPS组合导航算法；然后利用VISUAL C++6.0开发出飞行轨迹数据生成系统、捷联惯性导航实时仿真系统。仿真系统综合了惯性器件实时仿真、捷联惯性导航实时仿真，并具备器件性能参数设置、仿真数据动态实时显示和输出、实时存盘、数据回放功能。测试结果显示：仿真系统工作稳定可靠，仿真结果令人满意。
The single navigation can hardly to meet the requirement of controlling and
guiding modern airplane or missile, for example: the precision, the reliability and the applicability. If the high-precision GPS and high-reliability INS can be combined, a kind of more ideal navigation system will be constituted. To develop the INS/GPS integrated navigation simulator, which is similar to the real-system at the aspects of time and structure by using modern simulating technology, is significantly important for studying INS/GPS integrated navigation system which can fulfill the requirement.
This thesis is mainly about studying "INS navigation simulating subsystem" for "the studying of "INS/GPS integrated navigation simulator". Based on this main idea, first the thesis discusses the mathematics model of gyro and accelemeter, the initial alignment of north-pointed strapdown inertial navigation system, the method of calculation navigation, the method of generating flight orbit data, the method of INS/GPS integrated navigation in detail. Then the thesis develops the system generating flight orbit data and the system of real-time simulating strapdown inertial navigation with VC++6.0. The simulating system combines the inertial sensor real-time simulator and strapdown inertial navigation real-time simulator. Its functions are: the setup of sensor performance parameter, the simulating data dynamic and real-time display and output, real-time save, simulating data to. disk, the function of data show-back. The result shows that the simulating system is steady and reliable and the simulating result is satisfying.
引文
[1]袁信、俞济祥、陈哲，导航系统，航空工业出版社，1993．12
[2]康风举，现代仿真技术与应用，国防工业出版社，2001．9
[3]于波、陈云相、郭秀中，惯性技术，北京航空航天大学出版社，1994．8
[4]方崇智、萧德云，过程辨识，清华大学出版社，1988．8
[5]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，1998．11
[6]袁信、郑谔，捷联式惯性导航原理，航空专业教材编审组，1985．5
[7]以光衢等，惯性导航原理，航空工业出版社，1988，9
[8]张宗麟，惯性导航与组合导航，航空工业出版社，2000,8
[9]候俊杰，深入浅出MFC，华中科技大学出版社，2001．6
[10]David J．Kruglinski、Scot Wingo、George Shepherd著 希望图书创作室译，Visual C++6.0技术内幕，北京希望电子出版社，1999．5
[11]Microsoft Corporation，MSDN libraryw—July 2000，Microsoft Corporation，2000．7
[12]栗瑞江，低成本SINS／GPS组合导航系统研究(硕士学位论文)，西北工业大学905教研室，2001.3
[13]M.E.Cannon, R.Nayak, G.Lachapell, O.S.Salychev, Low-Cost INS/GPS Integration: Concepts and Testing, The Journal Of Navigation Vol.54 No.1 January 2001
[14]Dah-Jing.Jwo GPS Receiver Performance Enhancement via Intertial Velocity Aiding The Journal Of Navigation Vol.54 No.1 January 2001
[15]Jae Yong, E.Glenn Linghtsey, GPS Attitude Determination For The SOAR Experiment, NAVIGATION: Journal of the Institute of Navigation Vo1.48 No.3 Fall 2001
[16]Dr.Reha Metin Alkan, Prof Dr. Orhan Baykal Survay Boat Attitude Determination with GPS/IMU Systems The Journal Of Navigation Vol.54 No.1 January 2001
[17]Young LEE, Daniel O'Laughlin Performance Analysis of a Tightly Coupled GPS/Inertial System for Two Integrity Monitoring Methods NAVIGATION: Journal of the Institute of Navigation Vol.48 No.2 Summer 2001
[18]J.wager, et al, Aspect of Combining Satellite Navigation and Low-cost Inertial Sensors, Symposium Gyro technology, Stuttart, Germany, 1996
[19]周鹏、马歆、陈哲，陆基巡航导弹四组合制导系统仿真研究，中国惯性技术学报Vol．10 N0．4 2002．8
[2]康风举，现代仿真技术与应用，国防工业出版社，2001．9
[3]于波、陈云相、郭秀中，惯性技术，北京航空航天大学出版社，1994．8
[4]方崇智、萧德云，过程辨识，清华大学出版社，1988．8
[5]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，1998．11
[6]袁信、郑谔，捷联式惯性导航原理，航空专业教材编审组，1985．5
[7]以光衢等，惯性导航原理，航空工业出版社，1988，9
[8]张宗麟，惯性导航与组合导航，航空工业出版社，2000,8
[9]候俊杰，深入浅出MFC，华中科技大学出版社，2001．6
[10]David J．Kruglinski、Scot Wingo、George Shepherd著 希望图书创作室译，Visual C++6.0技术内幕，北京希望电子出版社，1999．5
[11]Microsoft Corporation，MSDN libraryw—July 2000，Microsoft Corporation，2000．7
[12]栗瑞江，低成本SINS／GPS组合导航系统研究(硕士学位论文)，西北工业大学905教研室，2001.3
[13]M.E.Cannon, R.Nayak, G.Lachapell, O.S.Salychev, Low-Cost INS/GPS Integration: Concepts and Testing, The Journal Of Navigation Vol.54 No.1 January 2001
[14]Dah-Jing.Jwo GPS Receiver Performance Enhancement via Intertial Velocity Aiding The Journal Of Navigation Vol.54 No.1 January 2001
[15]Jae Yong, E.Glenn Linghtsey, GPS Attitude Determination For The SOAR Experiment, NAVIGATION: Journal of the Institute of Navigation Vo1.48 No.3 Fall 2001
[16]Dr.Reha Metin Alkan, Prof Dr. Orhan Baykal Survay Boat Attitude Determination with GPS/IMU Systems The Journal Of Navigation Vol.54 No.1 January 2001
[17]Young LEE, Daniel O'Laughlin Performance Analysis of a Tightly Coupled GPS/Inertial System for Two Integrity Monitoring Methods NAVIGATION: Journal of the Institute of Navigation Vol.48 No.2 Summer 2001
[18]J.wager, et al, Aspect of Combining Satellite Navigation and Low-cost Inertial Sensors, Symposium Gyro technology, Stuttart, Germany, 1996
[19]周鹏、马歆、陈哲，陆基巡航导弹四组合制导系统仿真研究，中国惯性技术学报Vol．10 N0．4 2002．8