GPS/惯性紧组合导航系统研究
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摘要
全球定位系统(GPS)与惯性导航系统(INS)是目前两种主要的导航定位系统,二者具有良好的信息互补性,因此GPS/惯性组合导航系统具有优良的性能。通过深层次的信息融合技术可以进一步提高组合导航系统的精度和可靠性。本文主要对GPS/惯性组合导航系统方法、组合导航数据融合技术以及惯性辅助的GPS接收机相关技术进行了分析和研究。
论文首先对组合导航系统的背景及发展历程作了简要的概述。为了全面评估所设计组合导航系统的性能及其数据融合算法的正确性,建立了惯性测量元件和组合系统的数学模型,并对相应模型进行了仿真验证,设计了组合系统的整体仿真流程,为后续的系统仿真做好前期准备。
针对GPS/惯性伪距、伪距率紧组合导航系统中的非线性模型,传统卡尔曼滤波算法不能直接对其处理的问题,结合RBPF思想,根据GPS/惯性组合导航系统原理,对传统的组合导航滤波算法作了优化,研究和分析了卡尔曼/粒子组合滤波在GPS/惯性伪距、伪距率紧组合导航系统中的应用。
为了提高GPS接收机在复杂环境下的综合性能,本文接下来对基于惯性辅助的GPS信号捕获技术作了相关的研究与分析,从GPS信号捕获原理展开,着重阐述了惯性辅助下的GPS接收机信号捕获的特性与方法,并对惯性辅助GPS接收机的捕获与常规捕获方法进行了对比仿真验证与分析,论文的最后对GPS跟踪环路特性进行了相关分析,系统研究了基于惯性辅助GPS跟踪环路的GPS/惯性超紧组合导航系统,结合载体的高动态环境,对超紧组合系统的导航性能进行了相关仿真验证与分析。
GPS and INS are the two main types of navigation system currently, they may complement each other very well, which make GPS/INS integrated navigation system have an excellent navigation performance. The accuracy and reliability of the system can be improved further by combining GPS and INS raw measuring information. In this paper, the main research lays emphasis on GPS/INS tightly coupling navigation method, data fusion technology and the GPS receiver with INS aiding.
Firstly, the dissertation gives a brief overview on the background and the development of the integrated navigation system. For a comprehensive evaluation of the navigation performance of the integrated system, the mathematical models of IMU and integrated navigation system are designed and simulated. To prepare for system simulation, the process of digital simulation is designed as well.
In tightly integrated navigation system based on pseudo-range and pseudo-range rate, there exists nonlinear model which the traditional Kalman Filter can not treat it directly. To solve this problem, the traditional filter algorithm is optimized based on RBPF theory and the principle of integrated navigation system. The Kalman/particle Filter applied in tightly integrated navigation system based on pseudo-range and pseudo-range rate is studied and analyzed.
To improve the comprehensive property of GPS receiver under the complex environment, the technology of GPS signal acquiring with INS aiding is analyzed by simulation, and the principle of GPS signal acquiring is analyzed firstly in this paper, the signal acquiring and tracking characteristics of GPS receiver are discussed in detail, and the acquiring technology of GPS receiver with INS aiding is deeply analyzed by simulation, and the acquiring method with INS aiding and common acquiring method are contrasted by simulation test and analysis. Finally, the characteristics of GPS tracking loop with INS aiding are analyzed, and the performance of GPS/INS ultra-tightly integrated navigation system is studied and analyzed under high dynamic environment.
论文首先对组合导航系统的背景及发展历程作了简要的概述。为了全面评估所设计组合导航系统的性能及其数据融合算法的正确性,建立了惯性测量元件和组合系统的数学模型,并对相应模型进行了仿真验证,设计了组合系统的整体仿真流程,为后续的系统仿真做好前期准备。
针对GPS/惯性伪距、伪距率紧组合导航系统中的非线性模型,传统卡尔曼滤波算法不能直接对其处理的问题,结合RBPF思想,根据GPS/惯性组合导航系统原理,对传统的组合导航滤波算法作了优化,研究和分析了卡尔曼/粒子组合滤波在GPS/惯性伪距、伪距率紧组合导航系统中的应用。
为了提高GPS接收机在复杂环境下的综合性能,本文接下来对基于惯性辅助的GPS信号捕获技术作了相关的研究与分析,从GPS信号捕获原理展开,着重阐述了惯性辅助下的GPS接收机信号捕获的特性与方法,并对惯性辅助GPS接收机的捕获与常规捕获方法进行了对比仿真验证与分析,论文的最后对GPS跟踪环路特性进行了相关分析,系统研究了基于惯性辅助GPS跟踪环路的GPS/惯性超紧组合导航系统,结合载体的高动态环境,对超紧组合系统的导航性能进行了相关仿真验证与分析。
GPS and INS are the two main types of navigation system currently, they may complement each other very well, which make GPS/INS integrated navigation system have an excellent navigation performance. The accuracy and reliability of the system can be improved further by combining GPS and INS raw measuring information. In this paper, the main research lays emphasis on GPS/INS tightly coupling navigation method, data fusion technology and the GPS receiver with INS aiding.
Firstly, the dissertation gives a brief overview on the background and the development of the integrated navigation system. For a comprehensive evaluation of the navigation performance of the integrated system, the mathematical models of IMU and integrated navigation system are designed and simulated. To prepare for system simulation, the process of digital simulation is designed as well.
In tightly integrated navigation system based on pseudo-range and pseudo-range rate, there exists nonlinear model which the traditional Kalman Filter can not treat it directly. To solve this problem, the traditional filter algorithm is optimized based on RBPF theory and the principle of integrated navigation system. The Kalman/particle Filter applied in tightly integrated navigation system based on pseudo-range and pseudo-range rate is studied and analyzed.
To improve the comprehensive property of GPS receiver under the complex environment, the technology of GPS signal acquiring with INS aiding is analyzed by simulation, and the principle of GPS signal acquiring is analyzed firstly in this paper, the signal acquiring and tracking characteristics of GPS receiver are discussed in detail, and the acquiring technology of GPS receiver with INS aiding is deeply analyzed by simulation, and the acquiring method with INS aiding and common acquiring method are contrasted by simulation test and analysis. Finally, the characteristics of GPS tracking loop with INS aiding are analyzed, and the performance of GPS/INS ultra-tightly integrated navigation system is studied and analyzed under high dynamic environment.
引文
[1]文援兰等.卫星导航系统分析与仿真技术.北京:中国宇航出版社,2009. 12
[2]陈开权,惯性导航理论基础,水雷战与舰船防护,2003年第1期:8-12
[3]张国良,曾静等.组合导航原理与技术.西安:西安交通大学出版设,2008. 5
[4]刘光军.组合导航系统的数据处理与仿真,中国人民解放军信息工程大学博士学位论文, 2002:5-30
[5] D.A.Tazartes and J.G.Mark. Integration of GPS receiver into existing inertial navigation system[J].navigation:journal of the institute of navigation,1988,35(1):105-119
[6]房建宁,宁晓琳.天文导航原理及应用[M].北京:北京航空航天大学出版社,2006.
[7]陈侣,王可东.惯性导航与卫星导航紧耦合技术发展现状.中国卫星导航世界,2007.
[8]刘凯,刘慧.GPS/INS组合制导技术在现代战争中的应用及发展趋势[J].全球定位系统,2005,29(4):42-44
[9]杨静,张洪钺,朱士青.基于伪距、伪距率的GPS/SINS容错组合导航系统.航天控制,2003,3:17~25.
[10]黄讯,高启孝,李安,等. INS/GPS超紧耦合技术研究现状及展望.飞航导弹,2009,(4):42~47.
[11]高翔,刘兴堂.超紧密组合下GPS/INS跟踪回路的结构及性能分析.战术导弹技术,2007,(1):67~70.
[12]初海彬.多种卫星导航定位系统共用关键技术研究.哈尔滨:哈尔滨工业大学博士学位论文,2004.
[13]付梦印,邓志红,张继伟.kalman滤波理论及其在导航系统中的应用.北京:科学出版社,2003.10
[14]郑辛,宋有山.国外惯性技术发展趋势与展望[C].2005年惯性器件材料与工艺学研讨暨技术交流会,2005
[15]陈哲.捷联惯导系统原理[M].北京:宇航学报,1986.
[16]孙希延,纪元法,施浒立. GPS软件基带信号处理与定位实现.系统仿真学报. 2007,19(24):5832~5836.
[17] Giovanni D S,Levinson E.H. modulation for long edurance marline inertial navigation[J]. Navigation, 2005(2): 135-249
[18]李磊. GPS/SINS深度组合导航系统研究,[硕士学位论文].上海:上海交通大学,2009
[19]刘建业,曾庆化,赵伟,熊智等.导航系统理论与应用.西安:西北工业大学出版社,2010.3.
[20] Tao Li. Use of Wheel Speed Sensors to Enhance a Reduced IMU Ultra-Tight GNSS Receiver,Master thesis,Calgary University,2009.
[21] MILLER I,CAMPBELL M.Particle filtering for map-aided localization in sparse GPS environments[C].IEEE International Conference on Robotics and Automation , 2008 :1834—1841.
[22] GIREMUS A,TOURNERET J Y,CALMETTES V.A particle filtering approach for joint detection/estimation of multipath effects on GPS measurements [J] . Signal Processing,2007,55(4): 1275-1285.
[23]秦永元,张洪钺,汪淑华.卡尔曼滤波与组合导航原理[M].西安:西北工业大学出版社,1998.
[24] Bouaynaya N, Qu W, Schonfeld D. An online motion-based particle filter for head tracking applications[C]//IEEE International Conference on Acoustics, Speech, and Signal Processing, 2005: 225-228.
[25] Aggarwal P, Syed Z, El-Sheimy N. Hybrid extended particle filter (HEPF) for integrated civilian navigation system[C]//IEEE/ION Position, Location and Navigation Symposium, 2008: 984-992.
[26] Grisetti G,Tipaldi G D,Stachniss C,et al. Fast and Accurate SLAM with Rao-Blackwellized Particle Filter[J]. Robotics and Autonomous Systems, 2007, 55(1): 30-38.
[27]胡士强,敬忠良.粒子滤波算法综述.控制与决策[J],第20卷第4期,2005,4:361-365.
[28] E.Mooij,Q.Chu.Tightly-Coupled IMU/GPS Re-Entry Navigation System[C]//AIAA Guidance, Navigation, and Control Conference and Exhibit.02-5005.Monterey, California, Aug. 5-8, 2002
[29]鲁郁.GPS全球定位接收机—原理与软件实现[M].北京:电子工业出版社,2009
[30] Jams Bao-Yen Tsui. GPS软件接收机基础[M].第二版,北京:电子工业出版社,2007.
[31] Santiago Alban. Design and Performance of A Robust GPS/INS Attitude System for Automobile Applications [D]. PhD thesis, Stanford: The University of Stanford, 2004.
[32] Hong Li, Mingquan Lu, Zhenming Feng. Improved Zero-Padding Method for Rapid Long PN-Code Acquisition[J]. IEEE Transactions on Signal Processing 56(8-1): 3795-3799 (2008)
[33]唐康华.GPS/MIMU嵌入式组合导航关键技术研究[D].国防科学技术大学,2008
[34] Guo jiang Gao. INS-Assisted High Sensitivity GPS Receivers for Degraded Signal Navigation ,Master thesis,Calgary University,2007.
[35]易维勇等. GNSS单频软件接收机应用与编程[M].北京:国防工业出版社,2010,4:197~246.
[36]寇艳红译. GPS原理与应用(第二版).北京:电子工业出版社,2007:112~139.
[37]何秀凤,刘建业,袁信.惯性系统速度辅助的GPS接收机性能分析.航天控制,1996,(4):40~46.
[38] Santiago Alban. Design and Performance of A Robust GPS/INS Attitude System For Automobile Application[D].PhD thesis, Stanford: The university of Stanford,2004
[39]于海亮.基于INS辅助的GPS接收机捕获和跟踪技术研究,[硕士学位论文].长沙:国防科学技术大学,2007
[40]薛文芳.高动态GPS接收机设计中几个关键问题的研究[D],[博士学位论文].北京:北京航空航天大学,2002
[41]刘建业,赵伟,熊智,等.导航系统理论及应用[M].南京:南京航空航天大学出版社,2005:270-272.
[42] Ernest J. Ohlmeyer. Analysis of an Ultra-Tightly Coupled GPS/INS System in Jamming// ION Annual Meering/IEEE PLANS,San Diego,CA,2006,44~53.
[43] Ravindra Babu,Jinling Wang. Ultra-tight GPS/INS/PL integration: a system concept and performance analysis. GPS Solutions,2008,13(1):75~82.
[2]陈开权,惯性导航理论基础,水雷战与舰船防护,2003年第1期:8-12
[3]张国良,曾静等.组合导航原理与技术.西安:西安交通大学出版设,2008. 5
[4]刘光军.组合导航系统的数据处理与仿真,中国人民解放军信息工程大学博士学位论文, 2002:5-30
[5] D.A.Tazartes and J.G.Mark. Integration of GPS receiver into existing inertial navigation system[J].navigation:journal of the institute of navigation,1988,35(1):105-119
[6]房建宁,宁晓琳.天文导航原理及应用[M].北京:北京航空航天大学出版社,2006.
[7]陈侣,王可东.惯性导航与卫星导航紧耦合技术发展现状.中国卫星导航世界,2007.
[8]刘凯,刘慧.GPS/INS组合制导技术在现代战争中的应用及发展趋势[J].全球定位系统,2005,29(4):42-44
[9]杨静,张洪钺,朱士青.基于伪距、伪距率的GPS/SINS容错组合导航系统.航天控制,2003,3:17~25.
[10]黄讯,高启孝,李安,等. INS/GPS超紧耦合技术研究现状及展望.飞航导弹,2009,(4):42~47.
[11]高翔,刘兴堂.超紧密组合下GPS/INS跟踪回路的结构及性能分析.战术导弹技术,2007,(1):67~70.
[12]初海彬.多种卫星导航定位系统共用关键技术研究.哈尔滨:哈尔滨工业大学博士学位论文,2004.
[13]付梦印,邓志红,张继伟.kalman滤波理论及其在导航系统中的应用.北京:科学出版社,2003.10
[14]郑辛,宋有山.国外惯性技术发展趋势与展望[C].2005年惯性器件材料与工艺学研讨暨技术交流会,2005
[15]陈哲.捷联惯导系统原理[M].北京:宇航学报,1986.
[16]孙希延,纪元法,施浒立. GPS软件基带信号处理与定位实现.系统仿真学报. 2007,19(24):5832~5836.
[17] Giovanni D S,Levinson E.H. modulation for long edurance marline inertial navigation[J]. Navigation, 2005(2): 135-249
[18]李磊. GPS/SINS深度组合导航系统研究,[硕士学位论文].上海:上海交通大学,2009
[19]刘建业,曾庆化,赵伟,熊智等.导航系统理论与应用.西安:西北工业大学出版社,2010.3.
[20] Tao Li. Use of Wheel Speed Sensors to Enhance a Reduced IMU Ultra-Tight GNSS Receiver,Master thesis,Calgary University,2009.
[21] MILLER I,CAMPBELL M.Particle filtering for map-aided localization in sparse GPS environments[C].IEEE International Conference on Robotics and Automation , 2008 :1834—1841.
[22] GIREMUS A,TOURNERET J Y,CALMETTES V.A particle filtering approach for joint detection/estimation of multipath effects on GPS measurements [J] . Signal Processing,2007,55(4): 1275-1285.
[23]秦永元,张洪钺,汪淑华.卡尔曼滤波与组合导航原理[M].西安:西北工业大学出版社,1998.
[24] Bouaynaya N, Qu W, Schonfeld D. An online motion-based particle filter for head tracking applications[C]//IEEE International Conference on Acoustics, Speech, and Signal Processing, 2005: 225-228.
[25] Aggarwal P, Syed Z, El-Sheimy N. Hybrid extended particle filter (HEPF) for integrated civilian navigation system[C]//IEEE/ION Position, Location and Navigation Symposium, 2008: 984-992.
[26] Grisetti G,Tipaldi G D,Stachniss C,et al. Fast and Accurate SLAM with Rao-Blackwellized Particle Filter[J]. Robotics and Autonomous Systems, 2007, 55(1): 30-38.
[27]胡士强,敬忠良.粒子滤波算法综述.控制与决策[J],第20卷第4期,2005,4:361-365.
[28] E.Mooij,Q.Chu.Tightly-Coupled IMU/GPS Re-Entry Navigation System[C]//AIAA Guidance, Navigation, and Control Conference and Exhibit.02-5005.Monterey, California, Aug. 5-8, 2002
[29]鲁郁.GPS全球定位接收机—原理与软件实现[M].北京:电子工业出版社,2009
[30] Jams Bao-Yen Tsui. GPS软件接收机基础[M].第二版,北京:电子工业出版社,2007.
[31] Santiago Alban. Design and Performance of A Robust GPS/INS Attitude System for Automobile Applications [D]. PhD thesis, Stanford: The University of Stanford, 2004.
[32] Hong Li, Mingquan Lu, Zhenming Feng. Improved Zero-Padding Method for Rapid Long PN-Code Acquisition[J]. IEEE Transactions on Signal Processing 56(8-1): 3795-3799 (2008)
[33]唐康华.GPS/MIMU嵌入式组合导航关键技术研究[D].国防科学技术大学,2008
[34] Guo jiang Gao. INS-Assisted High Sensitivity GPS Receivers for Degraded Signal Navigation ,Master thesis,Calgary University,2007.
[35]易维勇等. GNSS单频软件接收机应用与编程[M].北京:国防工业出版社,2010,4:197~246.
[36]寇艳红译. GPS原理与应用(第二版).北京:电子工业出版社,2007:112~139.
[37]何秀凤,刘建业,袁信.惯性系统速度辅助的GPS接收机性能分析.航天控制,1996,(4):40~46.
[38] Santiago Alban. Design and Performance of A Robust GPS/INS Attitude System For Automobile Application[D].PhD thesis, Stanford: The university of Stanford,2004
[39]于海亮.基于INS辅助的GPS接收机捕获和跟踪技术研究,[硕士学位论文].长沙:国防科学技术大学,2007
[40]薛文芳.高动态GPS接收机设计中几个关键问题的研究[D],[博士学位论文].北京:北京航空航天大学,2002
[41]刘建业,赵伟,熊智,等.导航系统理论及应用[M].南京:南京航空航天大学出版社,2005:270-272.
[42] Ernest J. Ohlmeyer. Analysis of an Ultra-Tightly Coupled GPS/INS System in Jamming// ION Annual Meering/IEEE PLANS,San Diego,CA,2006,44~53.
[43] Ravindra Babu,Jinling Wang. Ultra-tight GPS/INS/PL integration: a system concept and performance analysis. GPS Solutions,2008,13(1):75~82.