低成本GPS/SINS组合导航系统
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摘要
为了满足现代高性能导航系统高精度和低成本的双重要求,GPS/SINS组合导航系统是一种较好的解决方案。本文的研究目的是在低成本的前提下提高导航系统的可靠性和定位精度。
本文针对低成本GPS/SINS组合导航系统设计理论及工程应用进行了深入研究。采用低成本微惯性测量元件、低成本GPS-OEM板、ARM处理器和液晶显示屏设计了一种低成本的GPS/SINS组合导航系统,从硬件上实现该组合导航系统。通过分析GPS/SINS组合导航系统的组合模式,系统设计采用工程上易于实现的位置、速度组合方式,采用反馈校正的方法,来提高捷联惯导模块的导航定位精度。对捷联惯性导航模块的数字迭代算法进行了深入研究,详细描述了捷联惯导模块工程应用中的初始对准、姿态更新、速度更新及位置更新算法。提出了一种低成本GPS/SINS组合导航系统算法,绘制了该算法流程图并用程序实现该算法。设计了GPS接收和液晶显示程序,文中给出了程序流程图。对本课题所设计的低成本GPS/SINS组合导航系统的实验数据进行了分析,结果表明组合后的系统定位误差在15m以内,比未组合前的精度有较大提高。文中还提出提高系统性能的改进方案。
In order to satisfy the requirements of high precision and low-cost of modern navigation system, the GPS/SINS integrated navigation system is one kind of better plans. This paper aimed to improve the reliability and accuracy of the positioning system and reduce the cost at the same time.
The design theory and engineering application of low-cost GPS/SINS integrated navigation system is studied in this paper. A low-cost GPS/SINS integrated navigation system is designed by using low-cost IMU and GPS-OEM board, ARM processor and LCD, which was implemented on hardware. Through analyzing the integrated model of GPS/SINS integrated navigation system, the system design adopts the position-velocity integrated model which is easy to realize in the engineering application. Due to the adoption of feedback, the precision of the SINU has been improved. The SINU iterative algorithm was deduced in details, which contains initial alignment algorithm, attitude update algorithm, velocity update algorithm, and position update algorithm. Based on the research of SINS navigation algorithm, the low-cost SINS/GPS integrated navigation algorithm is designed in this paper. In this paper the algorithm flow chart has been given and this algorithm is also programmed. The GPS receive and the LCD display program is designed, and the program flow diagram is also given in this paper. The experiment data of the low-cost GPS/SINS integrated navigation system is analyzed. The result shows that the positioning error of the integrated navigation system is less than 15m, and the precision is highly improved. Finally, the improved project is introduced. The results have practical value for engineering applications.
本文针对低成本GPS/SINS组合导航系统设计理论及工程应用进行了深入研究。采用低成本微惯性测量元件、低成本GPS-OEM板、ARM处理器和液晶显示屏设计了一种低成本的GPS/SINS组合导航系统,从硬件上实现该组合导航系统。通过分析GPS/SINS组合导航系统的组合模式,系统设计采用工程上易于实现的位置、速度组合方式,采用反馈校正的方法,来提高捷联惯导模块的导航定位精度。对捷联惯性导航模块的数字迭代算法进行了深入研究,详细描述了捷联惯导模块工程应用中的初始对准、姿态更新、速度更新及位置更新算法。提出了一种低成本GPS/SINS组合导航系统算法,绘制了该算法流程图并用程序实现该算法。设计了GPS接收和液晶显示程序,文中给出了程序流程图。对本课题所设计的低成本GPS/SINS组合导航系统的实验数据进行了分析,结果表明组合后的系统定位误差在15m以内,比未组合前的精度有较大提高。文中还提出提高系统性能的改进方案。
In order to satisfy the requirements of high precision and low-cost of modern navigation system, the GPS/SINS integrated navigation system is one kind of better plans. This paper aimed to improve the reliability and accuracy of the positioning system and reduce the cost at the same time.
The design theory and engineering application of low-cost GPS/SINS integrated navigation system is studied in this paper. A low-cost GPS/SINS integrated navigation system is designed by using low-cost IMU and GPS-OEM board, ARM processor and LCD, which was implemented on hardware. Through analyzing the integrated model of GPS/SINS integrated navigation system, the system design adopts the position-velocity integrated model which is easy to realize in the engineering application. Due to the adoption of feedback, the precision of the SINU has been improved. The SINU iterative algorithm was deduced in details, which contains initial alignment algorithm, attitude update algorithm, velocity update algorithm, and position update algorithm. Based on the research of SINS navigation algorithm, the low-cost SINS/GPS integrated navigation algorithm is designed in this paper. In this paper the algorithm flow chart has been given and this algorithm is also programmed. The GPS receive and the LCD display program is designed, and the program flow diagram is also given in this paper. The experiment data of the low-cost GPS/SINS integrated navigation system is analyzed. The result shows that the positioning error of the integrated navigation system is less than 15m, and the precision is highly improved. Finally, the improved project is introduced. The results have practical value for engineering applications.
引文
[1]高社生,李华星等:INS/SAR 组合导航定位技术与应用[M],西安:西北工业大学出版社,2004
[2]曾庆化,刘建业,彭文明,于永军:我国卫星导航系统相关技术发展分析[J],航天控制,2006(24):91-96
[3]邱志和,王乃义:GPS 原理与应用[M],北京:电子工业出版社,2002
[4]张宗麟:惯性导航与组合导航[M],北京:航空工业出版社,2000
[5]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[M],北京:科学出版社,2003
[6]顾启泰,刘学斌:近代制导、导航和控制系统的进展[J],导航,1998.(1):1-8
[7]桑楠:嵌入式系统原理及应用技术开发,北京:北京航空航天大学出版社,2001
[8] 150°/s Single Chip Yaw Rate Gyro with Single Condition-ADRS150[Z]
[9]沙占友,薛树琦,庞志峰:中外集成传感器实用手册[M],北京:电子工业出版社,2005
[10] Small,Low Power,3-Axis3g MEMS Accelerometer-ADXL330[Z]
[11] 王惠南:GPS 导航原理与应用[M] ,北京:科学出版社,2003
[12]李天文:GPS 原理及应用[M],北京:科学出版社,2006
[13]张勤,李家权:全球定位系统(GPS)测量原理及其数据处理基础,西安:西安地图出版社,2000
[14] GARMIN GPS15,GPS15L/H,GPS25LVS User Manual[Z]
[15]图象点阵液晶显示模块使用手册-YM24064C[Z]
[16] LPC2210 User Manual[Z],PHILIPS,2004
[17]袁信:导航系统[M],北京:航空工业出版社,1993
[18]孙枫,袁赣南,张晓红:组合导航系统[M],哈尔滨:哈尔滨工程大学出版社,1996
[19]干国强,邱志和:导航与定位[M],北京:国防工业出版社,2000
[20]马文华:嵌入式系统设计与开发[M],科学出版社,北京:2006
[21]王田苗:嵌入式系统设计与实例开发[M],北京:清华大学出版社,2003
[22]熊志昂,李红瑞,赖顺香:GPS 技术与工程应用[M],北京:国防工业出版社,2005
[23]刘俊,石云波,李杰:微惯性技术[M],北京:电子工业出版社,2005
[24]曲忠志:惯性导航系统[M] ,北京:国防工业出版社,1983
[25]秦永元:惯性导航[M],北京:科学出版社,2006
[26]秦永元:捷联惯导系统初始对准的参数辨识法[J],中国惯性技术学报,1990,总二期:1-16
[27]李文亮:四元数矩阵[M],长沙:国防科技大学出版社,2002
[28]郭圣权,贾建方,吴强:捷联惯性导航中一种算法的推证[J],中国惯性技术学报,2002,10(2):24-27
[29]M.Koifman, I.Y.Bar-Itzhack, Inertial Navigation System aided by Aircraft Dynamics, IEEE Trans. On Control System Technonlogy, 1999,7(4):487-493
[30]陈哲:捷联惯导系统原理[M] ,北京:宇航出版社,1986
[31]Musoff h,Murphy J H. Study of strapdown navigation attitude algorithms[J].Journal of Guidance, Control and Dynamics, 1995,18(2):287-290
[32]张超,郑勇,李建伟:利用 VB6.0 开发 GPS OEM 板[J],全球定位系统,2003(2):23-27
[33]TOSHIBA CMOS DIGITAL INTEGRATED CIRCUIT SILICON MONOLITHIC--T6963C[Z]
[34]周立功等:ARM 嵌入式系统基础教程[M] ,北京:北京航空航天大学出版社,2004
[35]董绪荣,张守信,华仲春.:GPS/INS 组合导航定位及其应用[M],长沙:国防科技大学出版社,1998
[36]艾佛里尔,B.查特菲尔德[著],武凤德,李凤山[译]:高精度惯性导航基础[M],北京:国防工业出版社,2002
[2]曾庆化,刘建业,彭文明,于永军:我国卫星导航系统相关技术发展分析[J],航天控制,2006(24):91-96
[3]邱志和,王乃义:GPS 原理与应用[M],北京:电子工业出版社,2002
[4]张宗麟:惯性导航与组合导航[M],北京:航空工业出版社,2000
[5]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[M],北京:科学出版社,2003
[6]顾启泰,刘学斌:近代制导、导航和控制系统的进展[J],导航,1998.(1):1-8
[7]桑楠:嵌入式系统原理及应用技术开发,北京:北京航空航天大学出版社,2001
[8] 150°/s Single Chip Yaw Rate Gyro with Single Condition-ADRS150[Z]
[9]沙占友,薛树琦,庞志峰:中外集成传感器实用手册[M],北京:电子工业出版社,2005
[10] Small,Low Power,3-Axis3g MEMS Accelerometer-ADXL330[Z]
[11] 王惠南:GPS 导航原理与应用[M] ,北京:科学出版社,2003
[12]李天文:GPS 原理及应用[M],北京:科学出版社,2006
[13]张勤,李家权:全球定位系统(GPS)测量原理及其数据处理基础,西安:西安地图出版社,2000
[14] GARMIN GPS15,GPS15L/H,GPS25LVS User Manual[Z]
[15]图象点阵液晶显示模块使用手册-YM24064C[Z]
[16] LPC2210 User Manual[Z],PHILIPS,2004
[17]袁信:导航系统[M],北京:航空工业出版社,1993
[18]孙枫,袁赣南,张晓红:组合导航系统[M],哈尔滨:哈尔滨工程大学出版社,1996
[19]干国强,邱志和:导航与定位[M],北京:国防工业出版社,2000
[20]马文华:嵌入式系统设计与开发[M],科学出版社,北京:2006
[21]王田苗:嵌入式系统设计与实例开发[M],北京:清华大学出版社,2003
[22]熊志昂,李红瑞,赖顺香:GPS 技术与工程应用[M],北京:国防工业出版社,2005
[23]刘俊,石云波,李杰:微惯性技术[M],北京:电子工业出版社,2005
[24]曲忠志:惯性导航系统[M] ,北京:国防工业出版社,1983
[25]秦永元:惯性导航[M],北京:科学出版社,2006
[26]秦永元:捷联惯导系统初始对准的参数辨识法[J],中国惯性技术学报,1990,总二期:1-16
[27]李文亮:四元数矩阵[M],长沙:国防科技大学出版社,2002
[28]郭圣权,贾建方,吴强:捷联惯性导航中一种算法的推证[J],中国惯性技术学报,2002,10(2):24-27
[29]M.Koifman, I.Y.Bar-Itzhack, Inertial Navigation System aided by Aircraft Dynamics, IEEE Trans. On Control System Technonlogy, 1999,7(4):487-493
[30]陈哲:捷联惯导系统原理[M] ,北京:宇航出版社,1986
[31]Musoff h,Murphy J H. Study of strapdown navigation attitude algorithms[J].Journal of Guidance, Control and Dynamics, 1995,18(2):287-290
[32]张超,郑勇,李建伟:利用 VB6.0 开发 GPS OEM 板[J],全球定位系统,2003(2):23-27
[33]TOSHIBA CMOS DIGITAL INTEGRATED CIRCUIT SILICON MONOLITHIC--T6963C[Z]
[34]周立功等:ARM 嵌入式系统基础教程[M] ,北京:北京航空航天大学出版社,2004
[35]董绪荣,张守信,华仲春.:GPS/INS 组合导航定位及其应用[M],长沙:国防科技大学出版社,1998
[36]艾佛里尔,B.查特菲尔德[著],武凤德,李凤山[译]:高精度惯性导航基础[M],北京:国防工业出版社,2002