精确制导炸弹低成本惯导/卫星组合导航方法研究
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摘要
以某型精确制导炸弹为应用对象,对弹载低成本MEMS惯导与卫星的组合导航方法进行了深入的研究与分析,内容涉及算法研究、硬件设计、软件实现、工程实验等多个方面。所作的工作可以归纳如下:
(1)对MIMU组合结构的器件误差标定技术进行了研究,设计了一种捷联惯性测量组合无须北向基准的标定方法;并对捷联惯性导航的误差模型以及基本解算方法进行了研究,包括高精度的姿态矩阵计算方法,速度、位置的计算方法等。
(2)对MINS/GPS松耦合模式下的导航算法进行了研究,根据奇异值可观测理论对系统进行了分析,设计了一种降阶卡尔曼滤波算法,数字仿真结果比较理想,采用降阶滤波器可提高导航系统的实时性,降低硬件成本。
(3)对MINS/GPS紧耦合模式下的滤波算法进行了研究,分析了滤波发散的现象,并给出了改进的滤波方法,对低精度的惯导与GPS的组合设计了一种改进的SRUKF非线性滤波算法,并与EKF进行了仿真对比,结果表明改进SRUKF的滤波精度较高。
(4)在MINS/GPS组合中由于MEMS惯导精度较低,离开了GPS就无法单独导航,但采用GPS系统战时会受制于人,因此制导炸弹的导航系统不能对其完全信赖。对MINS/北斗/GPS多传感器信息融合算法进行了研究,提出了一种改进的非等间隔联邦滤波器,这种滤波算法除了具有非等间隔联邦滤波器的优点即可以解决各局部滤波器的量测信息的周期不同外,还具有抑制因计算方法不完善或系统噪声统计特性不确切而引起的滤波发散的功能。
(5)根据某型精确制导炸弹的特点设计了一种基于浮点DSP+FPGA+MCU的组合导航原理样机。完成了系统的硬件设计、软件设计以及代码实现等工作,针对GPS与惯导数据不同步等问题,在基于浮点DSP+FPGA+MCU的组合导航系统硬件平台上设计了高精度信息同步的算法。
(6)对所设计的组合导航原理样机进行了大量的实验考核。如,三轴转台实验、地面跑车实验、飞机挂飞实验、投弹实验等,最终的实验结果均比较理想,导航系统测姿、定位精度较高,设计的弹载组合导航系统原理样机可以满足实际工程的需要。
In this dissertation, design and research on low cost MEMS-SINS/Satellite integrated navigation system for precise guided bomb is deeply developed, which involves the algorithms research, the hardware system design, the software system realization, the engineering experiment and so on. The main work done in this thesis is as follows:
(1) System calibration techniques have been discussed for MIMU, and a new calibration method of strapdown inertial measurement unit without north reference has been presented. The error model and basic algorithms of Strapdown Inertial Navigation System have been researched, including high-precision attitude matrix updating algorithms, velocity and position updating algorithms etc.
(2) The loose coupling MINS/GPS integrated navigation system's algorithms have been researched. The observability analysis method of singular value decomposition theory has been studied in the system. Then an order filter for integrated system has been designed. The excellent result of computer simulation indicates that the order filter can reduce the filter calculation and the hardware cost.
(3) The filter algorithms in tight coupling MINS/GPS integrated navigation system have been studied. The improved Kalman filter has been suggested to prevent distortion of filter. An improved SRUKF filter is designed according to the low-precise SINS/GPS integrated navigation system, the simulation results show that the improved SRUKF is more appropriate for the low-precise MINS/GPS system than EKF.
(4) Owing to low-precise of the MEMS-SINS, it is impossible for the MINS/GPS integrated navigation system to work normally without GPS assistance.However, the GPS signal may be cut off by the U.S government once the war break out, so the guidance bomb shouldn't depend on GPS system completely. The information fusion of MINS/RDSS/GPS multi-sensor integrated navigation has been researched and an improved incoordinate interval federated filter has been proposed creatively. The new filter not only has the advantages of the incoordinate interval filter, which can solve the local filter's problem that the different navigation device measurements have different periods in real system ,but also has the advantages of preventing distortion of filter which caused by the imperfect arithmetic method or the incorrect statistical characteristic of noises.
(5) According to the characteristic of the precise guided bomb, a MINS/GPS integrated navigation experimental prototype system which is based on a structure of floating point DSP+FPGA+MCU has been designed. The tasks of hardware system design, software system design and the code realization etc have been accomplished. Then, aiming at the asynchronism problem of GPS and SENS systems' output, a high-precision data synchronization method has been designed on its hardware platform.
(6) Several experiments have been made to the experimental prototype system, such as three-axis turn table experiment, vehicle experiment, flight experiment, bomb-dropping experiment and so on.The excellent final results of these experiments indicate that the designed system for bomb has high accuracy and can satisfy the demands of the engineering application very well.
(1)对MIMU组合结构的器件误差标定技术进行了研究,设计了一种捷联惯性测量组合无须北向基准的标定方法;并对捷联惯性导航的误差模型以及基本解算方法进行了研究,包括高精度的姿态矩阵计算方法,速度、位置的计算方法等。
(2)对MINS/GPS松耦合模式下的导航算法进行了研究,根据奇异值可观测理论对系统进行了分析,设计了一种降阶卡尔曼滤波算法,数字仿真结果比较理想,采用降阶滤波器可提高导航系统的实时性,降低硬件成本。
(3)对MINS/GPS紧耦合模式下的滤波算法进行了研究,分析了滤波发散的现象,并给出了改进的滤波方法,对低精度的惯导与GPS的组合设计了一种改进的SRUKF非线性滤波算法,并与EKF进行了仿真对比,结果表明改进SRUKF的滤波精度较高。
(4)在MINS/GPS组合中由于MEMS惯导精度较低,离开了GPS就无法单独导航,但采用GPS系统战时会受制于人,因此制导炸弹的导航系统不能对其完全信赖。对MINS/北斗/GPS多传感器信息融合算法进行了研究,提出了一种改进的非等间隔联邦滤波器,这种滤波算法除了具有非等间隔联邦滤波器的优点即可以解决各局部滤波器的量测信息的周期不同外,还具有抑制因计算方法不完善或系统噪声统计特性不确切而引起的滤波发散的功能。
(5)根据某型精确制导炸弹的特点设计了一种基于浮点DSP+FPGA+MCU的组合导航原理样机。完成了系统的硬件设计、软件设计以及代码实现等工作,针对GPS与惯导数据不同步等问题,在基于浮点DSP+FPGA+MCU的组合导航系统硬件平台上设计了高精度信息同步的算法。
(6)对所设计的组合导航原理样机进行了大量的实验考核。如,三轴转台实验、地面跑车实验、飞机挂飞实验、投弹实验等,最终的实验结果均比较理想,导航系统测姿、定位精度较高,设计的弹载组合导航系统原理样机可以满足实际工程的需要。
In this dissertation, design and research on low cost MEMS-SINS/Satellite integrated navigation system for precise guided bomb is deeply developed, which involves the algorithms research, the hardware system design, the software system realization, the engineering experiment and so on. The main work done in this thesis is as follows:
(1) System calibration techniques have been discussed for MIMU, and a new calibration method of strapdown inertial measurement unit without north reference has been presented. The error model and basic algorithms of Strapdown Inertial Navigation System have been researched, including high-precision attitude matrix updating algorithms, velocity and position updating algorithms etc.
(2) The loose coupling MINS/GPS integrated navigation system's algorithms have been researched. The observability analysis method of singular value decomposition theory has been studied in the system. Then an order filter for integrated system has been designed. The excellent result of computer simulation indicates that the order filter can reduce the filter calculation and the hardware cost.
(3) The filter algorithms in tight coupling MINS/GPS integrated navigation system have been studied. The improved Kalman filter has been suggested to prevent distortion of filter. An improved SRUKF filter is designed according to the low-precise SINS/GPS integrated navigation system, the simulation results show that the improved SRUKF is more appropriate for the low-precise MINS/GPS system than EKF.
(4) Owing to low-precise of the MEMS-SINS, it is impossible for the MINS/GPS integrated navigation system to work normally without GPS assistance.However, the GPS signal may be cut off by the U.S government once the war break out, so the guidance bomb shouldn't depend on GPS system completely. The information fusion of MINS/RDSS/GPS multi-sensor integrated navigation has been researched and an improved incoordinate interval federated filter has been proposed creatively. The new filter not only has the advantages of the incoordinate interval filter, which can solve the local filter's problem that the different navigation device measurements have different periods in real system ,but also has the advantages of preventing distortion of filter which caused by the imperfect arithmetic method or the incorrect statistical characteristic of noises.
(5) According to the characteristic of the precise guided bomb, a MINS/GPS integrated navigation experimental prototype system which is based on a structure of floating point DSP+FPGA+MCU has been designed. The tasks of hardware system design, software system design and the code realization etc have been accomplished. Then, aiming at the asynchronism problem of GPS and SENS systems' output, a high-precision data synchronization method has been designed on its hardware platform.
(6) Several experiments have been made to the experimental prototype system, such as three-axis turn table experiment, vehicle experiment, flight experiment, bomb-dropping experiment and so on.The excellent final results of these experiments indicate that the designed system for bomb has high accuracy and can satisfy the demands of the engineering application very well.
引文
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