区域信标/差分GPS组网导航技术研究
|
摘要
传统地基导航信标台与现代卫星导航系统组合，显示出极强的性能优势，代
表了导航技术的一个发展方向。本文设计了一种军民用信标/GPS组网导航系统方
案，并结合本学科特点，研究精密导引翼伞GN&C系统设计方法，建立数学模型
并仿真。主要工作包括：
1．分析导航系统发展现状，概述导航信标台的原理和新特点，以及国内外应用
情况：介绍现代战争对精密制导、导航战攻防策略等方面提出的新要求，及
未来发展趋势。
2．比较已有地基导航系统结构、性能、特点，在此基础上，结合现代战争对导
航系统提出的新的要求，设计一种区域覆盖的信标/DGPS组网导航系统方案，
并对其关键技术进行研究。
3．概述当前国内外在精密导引翼伞项目上的发展现状，分别针对扁圆型可控伞
和翼型可控伞，研究导航、制导、控制子系统的特点和性能要求，并以制导
策略为重点，提出设计方案，分析关键技术。
4．具体分析了应用相对GPS/差分GPS技术实现翼型伞精确投放的可行性，并
设计系统工作模式和信号格式，建立误差模型。
5．针对扁圆形可控翼伞，建立其动力学方程，并在合理的简化条件下，讨论平
衡运动状态附近稳定性分析方法，给出有参考价值的结果。
6．建立精密导引翼伞GN&C系统设计中需要的其它数学模型，包括：附加质量
模型、开伞动载模型、雀降操纵模型、阵风模型、气压牵拉执行机构模型、
径向归航导引准则模型等。在各种不同因素影响条件下，对雀降操纵过程中
速度、位置变化规律进行量化研究，并对结果进行分析。
The integration of conventional radio beacon and satellite navigation system has
shown a great many of advantages in cost-performance, and it represents a developing
trend of navigation technology. In this thesis, the network schema of multi-station
system, which includes radio beacons and GPS, is designed in details. This novel
technology can be applied to many kinds of commercial and military projects, such as
the GN&C system of controllable parachute/parafoil. Apparent performance
improvement can be observed. The main work of this paper is:
1. The current status of navigation system is introduced as well as the principles
and new features of radio beacon. While considering the precision guidance ability and
attacking-defending strategies, some new requirements that modem warfare imposed on
navigation system are generalized.
2. By comparing the structures, specifications and features of existing terrestrial
navigation systems, a RB/DGPS network is framed and designed, which can achieve
local area coverage and meet the requirements of modem warfare. Some key
technologies are also investigated.
3. Current status of precision guided airdrop system in several countries is
introduced briefly. Then aiming at controllable parachute and parafoil respectively, the
GN&C subsystems are explored. With the emphases on guidance strategy, the schema is
presented and some critical technologies are analyzed.
4. The feasibility of using Relative GPS and Differential GPS to achieve
precision guidance and control is analyzed. Operating mode and signal structure are
designed and some useful conclusion is drawn. The quantitative expressions of
biases/errors in RGPS/DGPS mode are deduced.
5. By using rigid body-rigid body hypothesis, the equation of motion with eleven
degrees of freedom is founded. According to the simplified model, stability criteria are
given.
6. Other mathematical models are built, including the model of apparent mass, the
model of parachute opening dynamic load, the model of flare landing control, the model
of changing wind field, the model of Pneumatic Muscle Actuator and the model of
radial homing gliding. All of them are absolutely necessary to the design of GN&C
system. In particular, the pattern of position and velocity during flare landing are plotted
with specific parameter variation.
表了导航技术的一个发展方向。本文设计了一种军民用信标/GPS组网导航系统方
案，并结合本学科特点，研究精密导引翼伞GN&C系统设计方法，建立数学模型
并仿真。主要工作包括：
1．分析导航系统发展现状，概述导航信标台的原理和新特点，以及国内外应用
情况：介绍现代战争对精密制导、导航战攻防策略等方面提出的新要求，及
未来发展趋势。
2．比较已有地基导航系统结构、性能、特点，在此基础上，结合现代战争对导
航系统提出的新的要求，设计一种区域覆盖的信标/DGPS组网导航系统方案，
并对其关键技术进行研究。
3．概述当前国内外在精密导引翼伞项目上的发展现状，分别针对扁圆型可控伞
和翼型可控伞，研究导航、制导、控制子系统的特点和性能要求，并以制导
策略为重点，提出设计方案，分析关键技术。
4．具体分析了应用相对GPS/差分GPS技术实现翼型伞精确投放的可行性，并
设计系统工作模式和信号格式，建立误差模型。
5．针对扁圆形可控翼伞，建立其动力学方程，并在合理的简化条件下，讨论平
衡运动状态附近稳定性分析方法，给出有参考价值的结果。
6．建立精密导引翼伞GN&C系统设计中需要的其它数学模型，包括：附加质量
模型、开伞动载模型、雀降操纵模型、阵风模型、气压牵拉执行机构模型、
径向归航导引准则模型等。在各种不同因素影响条件下，对雀降操纵过程中
速度、位置变化规律进行量化研究，并对结果进行分析。
The integration of conventional radio beacon and satellite navigation system has
shown a great many of advantages in cost-performance, and it represents a developing
trend of navigation technology. In this thesis, the network schema of multi-station
system, which includes radio beacons and GPS, is designed in details. This novel
technology can be applied to many kinds of commercial and military projects, such as
the GN&C system of controllable parachute/parafoil. Apparent performance
improvement can be observed. The main work of this paper is:
1. The current status of navigation system is introduced as well as the principles
and new features of radio beacon. While considering the precision guidance ability and
attacking-defending strategies, some new requirements that modem warfare imposed on
navigation system are generalized.
2. By comparing the structures, specifications and features of existing terrestrial
navigation systems, a RB/DGPS network is framed and designed, which can achieve
local area coverage and meet the requirements of modem warfare. Some key
technologies are also investigated.
3. Current status of precision guided airdrop system in several countries is
introduced briefly. Then aiming at controllable parachute and parafoil respectively, the
GN&C subsystems are explored. With the emphases on guidance strategy, the schema is
presented and some critical technologies are analyzed.
4. The feasibility of using Relative GPS and Differential GPS to achieve
precision guidance and control is analyzed. Operating mode and signal structure are
designed and some useful conclusion is drawn. The quantitative expressions of
biases/errors in RGPS/DGPS mode are deduced.
5. By using rigid body-rigid body hypothesis, the equation of motion with eleven
degrees of freedom is founded. According to the simplified model, stability criteria are
given.
6. Other mathematical models are built, including the model of apparent mass, the
model of parachute opening dynamic load, the model of flare landing control, the model
of changing wind field, the model of Pneumatic Muscle Actuator and the model of
radial homing gliding. All of them are absolutely necessary to the design of GN&C
system. In particular, the pattern of position and velocity during flare landing are plotted
with specific parameter variation.
引文
[1] 林长川，林富强，无线电信标／差GPS的现状及发展趋势，世界海运，1998(6)
[2] 周则尧，沿海无线电指向标／差分GPS系统简介，水运工程，1997(1)
[3] 朱纪洪，夏云程，郭锁凤，基于GPS某无人飞机的导航与制导算法，弹道 学报，1998． 3(1)
[4] 贺卫亮，利用风洞试验研究冲压翼伞的升阻特性，航空学报，1999． 6(增刊)
[5] 童旭东，开创我国航天器回收技术的新领域，航天技术与民品，1999． 6
[6] 喻东明，李丰雄，随机变量总体均值在降落伞技术中的应用，航空学报， 1999． 6(增刊)
[7] 葛茂荣，过静君，谢宝童，动态对动态GPS实时差分定位，工程勘察，1998(4)
[8] 胡从玮，姚连璧，周林根，高精度GPS动态定位及其精度分析，工程勘察， 1998(4)
[9] 张崇猛，陈超英，庄良杰，刘飞，信息融合理论及其在INS／GPS／Doppler。组 合导航系统中的应用，中国惯性技术学报，1999． 9(3)
[10] 沈志群，全向参雷达信标，上海航天，1998(6)
[11] 刘传保，时差定位法精度分析，现代雷达，1999． 4(2)
[12] 姜昌，区域性无源三维导航定位系统研究，遥测遥控，1999． 1(1)
[13] 屈晓光，朱可炎，黄培康，提高相控阵制导雷达导引精度的一种新方法-信 标法，系统工程与电子技术，1998(10)
[14] 杨秉曦，李承祖，李汶，丁益明，无线电信标差分GPS，船舶通信与导航， 1994． 10
[15] 周其焕，建立GPS基准站网系统的探讨，中国民航学院学报，1997． 6(3)
[16] 吴宝昌，李定楚，航标自动监控系统研讨，中国航海，1999(1)
[17] 李大耀，李大治，物体-双伞系统运动方程与稳定性判据，宇航学报，1997． 10(4)
[18] 程文科，杨小伟，秦子增，张晓今，物伞系统动力特性研究，国防科技大学 学报,1998(4)
[19] 龚文轩，一种计算开伞动载的实用方法，中国空间科学技术，1995． 2(1)
[20] 张顺玉，秦子增，张晓今，可控翼伞气动力及雀降操纵力仿真计算，国防科 技大学学报，1999(3)
[21] 赵秋艳，翼伞雀降技术，航天返回与遥感，1999． 6(vol．20,2)
[22] 李大耀，李大治，物-伞系统运动方程与稳定性判据，中国空间科学技术， 1994． 4(2)
[23] 吴如璋，翼伞雀降性能分析，中国航空科技文献，GF56887
[24] 国防科学技术工业委员会，回收降落伞系统通用规范，中华人民共和国国家 军用标准，GJB 2708-96．
[25] 杨振起等，双(多)基地雷达系统，北京：国防工业出版社，1998
[26] 孙仲康等，单多基地有源无源定位技术，北京：国防工业出版社，1996
[27] 王万义，邱致和等，GPS理论与应用，第2卷(上)，西安导航技术研究所， 1999
[28] 西北工业大学理论力学教研室，理论力学(上、下册)，西安：西北工业大 学，1993
[29] 方群等，差分GPS与相对GPS在降落伞精确投放中的应用，全球定位系统， 2000(4)
[30] 回返技术翻译组，气动力减速器原理及设计(上、下册)，北京：国防工业 出版社，1976
[31] 袁建平，卫星导航的系统廷拓与创新应用，西安：西北工业大学航天工程学 院，1999
[32] 干国强，邱致和，导航与定位-现代战争的北斗星，北京：国防工业出版社， 2000
[33] 谷雷，殷俊，GPS自动归航系统在变化风场中的轨迹，飞行力学审稿稿件， 2000
[34] 贺鹰，多传感器合成在精确制导武器系统中的应用，现代防御技术，1993(2)
[35] 王广运，郭秉义，李洪涛，差分GPS定位技术与应用，北京：电子工业出 版社，1996
[36] 《数学手册》编写组，数学手册，北京：高等教育出版社，1979
[37] Advisory Group For Aerospace Research & Development, System Implications and Innovative Applications of Satellite Navigation, NATO, AGARD LECTURE SERIES 207,1996
[38] S. Dellicker, J. Bybee, Low Cost Parachute Guidance,Navigation,and Control, Proceedings of the CEAS/AIAA 15th Aerodynamic Decelerated Systems Technology Conference,AIAA-99-1706, Toulouse,France,1999．
[39] G. Brown, R. Haggard, R. Almassy, R. Benney, S. Dellicker, The Affordable Guided Airdrop System, Proceedings of the CEAS/AIAA 15th Aerodynamic Decelerated Systems Technology Conference, AIAA-99-1742, Toulouse, France, 1999．
[40] R. Benney, G. Brown, K. Stein, A New Pneumatic Actuator: Its Use in Airdrop Applications, Proseedings of the CEAS/AIAA 15th Aerodynamic Decelerated Systems Technology Conference, AIAA-99-1719, Toulouse, France, 1999
[41] V.Siewert, J. Sussingham, 6-DOF Enhancement of Precision Guided Munitions Testing, AIAA-98-0396．
[42] P. Hattis, R. Benney, Demonstration of Precision Guided Ram-Air Parafoil Airdrop Using GPS/INS Navigation, Proceedings of the Institute of Navigation 52nd Annual Meeting, Cambridge, MA, June 1996．
[43] R.Benney, K.Stein, W.Zhang, M.Accorsi, J.Leonard, Controllable Airdrop Simulations Utilizing a 3-D Structural Dynamic Model, Proceedings of the CEAS/AIAA 15th Aerodynamic Decelerated Systems Technology Conference, AIAA-99-1727, Toulouse, France, 1999．
[44] G. Strickert, T. Jann, Determination of the Relative Motion Between Parafoil Canopy and Load Using Advanced Video-Image Processing Techniques, Proceedings of the CEAS/AIAA 15th Aerodynamic Decelerated Systems Technology Conference, AIAA-99-1754, Toulouse, France, 1999．
[45] P. Mortaloni, J. Stewart, Aerodynamic Decelerator Testing U.S. Army History and Capabilities, Proceedings of the CEAS/AIAA 15th Aerodynamic Decelerated Systems Technology Conference, AIAA-99-1760, Toulouse, France, 1999．
[46] Calvin K. Lee, Radial Reefing Method for Accelerated and Controlled Parachute
Opening, AIAA-93-1209．
[47] A. Sim, J. Murray, D. Neufeld, R. Reed, The Development and Flight Test of a Deployable Precision Landing System for Spacecraft Recovery, NASA Technical Memorandum 4525, 1993．
[48] J. Tuohino, M. Farley, J. Weinfeldt, Pseudolite Battlefield Navigation System Outdoor Test Results, ION-GPS 99, Nashville, TN,1999．
[49] A. Ndili, GPS Psuedolite Signal Design, ION-GPS 94, Salt Lake City, Utah, 1994． 9．
[50] T. Jann, K. Doherr, W. Gockel, Parafoil Test Vehicle ALEX-Future Development and Flight Test Results, Proceedings of the CEAS/A1AA 15th Aerodynamic Decelerated Systems Technology Conference, AIAA-99-1751, Toulouse, France, 1999．
[51] B. Birge, G. Walberg, An Investigation of Terminal Guidance and Control Techniques for a Robotic Mars Lander, NASA Grant NAG-1-2086, 1999．
[52] T. Knacke, Steerable Parachutes, Symposium for Aerodynamic Deceleration, Braunschweig. Germany, 1969．
[53] G. Viviani, Application of Parafoils to Microwave Landing System Siting, AIAA-93-1213．
[54] D. Pillasch, D. Pangburn, Impulse Guided Samara Decelerator,AIAA-93-1234．
[55] P. Lissaman, G. Brown, Apparent Mass Effects on Parafoil Dynamics, AIAA-93-1236．
[56] J. Gilkey, Precision Guided Parachute LDRD Final Report, SANDIA REPORT, SAND96-1622． UC-706, 1996．
[57] C. Iacomini, C. Madsen, Investigation of Large Scale Parafoil Rigging Angles: Analytical and Drop Test Results, Proceedings of the CEAS/AIAA 15th Aerodynamic Decelerated Systems Technology Conference, AIAA-99-1752, Toulouse, France, 1999．
[58] G. Brown, Parafoil Steady Turn Response To Control Input, AIAA-93-1241．
[59] J. Hogue, W. Johnson, R. Allen, D Pierce, Parachute Canopy Control and Guidance Training Requirements and Methodology, AIAA-93-1255．
[60] J. Murray, A. Sim, D. Neufeld, P. Rennich, S. Norris, W. Hughes, Further Development and Flight Test of an Autonomous Precision Landing System Using Parafoil, NASA Technical Memorandum 4599．
[2] 周则尧，沿海无线电指向标／差分GPS系统简介，水运工程，1997(1)
[3] 朱纪洪，夏云程，郭锁凤，基于GPS某无人飞机的导航与制导算法，弹道 学报，1998． 3(1)
[4] 贺卫亮，利用风洞试验研究冲压翼伞的升阻特性，航空学报，1999． 6(增刊)
[5] 童旭东，开创我国航天器回收技术的新领域，航天技术与民品，1999． 6
[6] 喻东明，李丰雄，随机变量总体均值在降落伞技术中的应用，航空学报， 1999． 6(增刊)
[7] 葛茂荣，过静君，谢宝童，动态对动态GPS实时差分定位，工程勘察，1998(4)
[8] 胡从玮，姚连璧，周林根，高精度GPS动态定位及其精度分析，工程勘察， 1998(4)
[9] 张崇猛，陈超英，庄良杰，刘飞，信息融合理论及其在INS／GPS／Doppler。组 合导航系统中的应用，中国惯性技术学报，1999． 9(3)
[10] 沈志群，全向参雷达信标，上海航天，1998(6)
[11] 刘传保，时差定位法精度分析，现代雷达，1999． 4(2)
[12] 姜昌，区域性无源三维导航定位系统研究，遥测遥控，1999． 1(1)
[13] 屈晓光，朱可炎，黄培康，提高相控阵制导雷达导引精度的一种新方法-信 标法，系统工程与电子技术，1998(10)
[14] 杨秉曦，李承祖，李汶，丁益明，无线电信标差分GPS，船舶通信与导航， 1994． 10
[15] 周其焕，建立GPS基准站网系统的探讨，中国民航学院学报，1997． 6(3)
[16] 吴宝昌，李定楚，航标自动监控系统研讨，中国航海，1999(1)
[17] 李大耀，李大治，物体-双伞系统运动方程与稳定性判据，宇航学报，1997． 10(4)
[18] 程文科，杨小伟，秦子增，张晓今，物伞系统动力特性研究，国防科技大学 学报,1998(4)
[19] 龚文轩，一种计算开伞动载的实用方法，中国空间科学技术，1995． 2(1)
[20] 张顺玉，秦子增，张晓今，可控翼伞气动力及雀降操纵力仿真计算，国防科 技大学学报，1999(3)
[21] 赵秋艳，翼伞雀降技术，航天返回与遥感，1999． 6(vol．20,2)
[22] 李大耀，李大治，物-伞系统运动方程与稳定性判据，中国空间科学技术， 1994． 4(2)
[23] 吴如璋，翼伞雀降性能分析，中国航空科技文献，GF56887
[24] 国防科学技术工业委员会，回收降落伞系统通用规范，中华人民共和国国家 军用标准，GJB 2708-96．
[25] 杨振起等，双(多)基地雷达系统，北京：国防工业出版社，1998
[26] 孙仲康等，单多基地有源无源定位技术，北京：国防工业出版社，1996
[27] 王万义，邱致和等，GPS理论与应用，第2卷(上)，西安导航技术研究所， 1999
[28] 西北工业大学理论力学教研室，理论力学(上、下册)，西安：西北工业大 学，1993
[29] 方群等，差分GPS与相对GPS在降落伞精确投放中的应用，全球定位系统， 2000(4)
[30] 回返技术翻译组，气动力减速器原理及设计(上、下册)，北京：国防工业 出版社，1976
[31] 袁建平，卫星导航的系统廷拓与创新应用，西安：西北工业大学航天工程学 院，1999
[32] 干国强，邱致和，导航与定位-现代战争的北斗星，北京：国防工业出版社， 2000
[33] 谷雷，殷俊，GPS自动归航系统在变化风场中的轨迹，飞行力学审稿稿件， 2000
[34] 贺鹰，多传感器合成在精确制导武器系统中的应用，现代防御技术，1993(2)
[35] 王广运，郭秉义，李洪涛，差分GPS定位技术与应用，北京：电子工业出 版社，1996
[36] 《数学手册》编写组，数学手册，北京：高等教育出版社，1979
[37] Advisory Group For Aerospace Research & Development, System Implications and Innovative Applications of Satellite Navigation, NATO, AGARD LECTURE SERIES 207,1996
[38] S. Dellicker, J. Bybee, Low Cost Parachute Guidance,Navigation,and Control, Proceedings of the CEAS/AIAA 15th Aerodynamic Decelerated Systems Technology Conference,AIAA-99-1706, Toulouse,France,1999．
[39] G. Brown, R. Haggard, R. Almassy, R. Benney, S. Dellicker, The Affordable Guided Airdrop System, Proceedings of the CEAS/AIAA 15th Aerodynamic Decelerated Systems Technology Conference, AIAA-99-1742, Toulouse, France, 1999．
[40] R. Benney, G. Brown, K. Stein, A New Pneumatic Actuator: Its Use in Airdrop Applications, Proseedings of the CEAS/AIAA 15th Aerodynamic Decelerated Systems Technology Conference, AIAA-99-1719, Toulouse, France, 1999
[41] V.Siewert, J. Sussingham, 6-DOF Enhancement of Precision Guided Munitions Testing, AIAA-98-0396．
[42] P. Hattis, R. Benney, Demonstration of Precision Guided Ram-Air Parafoil Airdrop Using GPS/INS Navigation, Proceedings of the Institute of Navigation 52nd Annual Meeting, Cambridge, MA, June 1996．
[43] R.Benney, K.Stein, W.Zhang, M.Accorsi, J.Leonard, Controllable Airdrop Simulations Utilizing a 3-D Structural Dynamic Model, Proceedings of the CEAS/AIAA 15th Aerodynamic Decelerated Systems Technology Conference, AIAA-99-1727, Toulouse, France, 1999．
[44] G. Strickert, T. Jann, Determination of the Relative Motion Between Parafoil Canopy and Load Using Advanced Video-Image Processing Techniques, Proceedings of the CEAS/AIAA 15th Aerodynamic Decelerated Systems Technology Conference, AIAA-99-1754, Toulouse, France, 1999．
[45] P. Mortaloni, J. Stewart, Aerodynamic Decelerator Testing U.S. Army History and Capabilities, Proceedings of the CEAS/AIAA 15th Aerodynamic Decelerated Systems Technology Conference, AIAA-99-1760, Toulouse, France, 1999．
[46] Calvin K. Lee, Radial Reefing Method for Accelerated and Controlled Parachute
Opening, AIAA-93-1209．
[47] A. Sim, J. Murray, D. Neufeld, R. Reed, The Development and Flight Test of a Deployable Precision Landing System for Spacecraft Recovery, NASA Technical Memorandum 4525, 1993．
[48] J. Tuohino, M. Farley, J. Weinfeldt, Pseudolite Battlefield Navigation System Outdoor Test Results, ION-GPS 99, Nashville, TN,1999．
[49] A. Ndili, GPS Psuedolite Signal Design, ION-GPS 94, Salt Lake City, Utah, 1994． 9．
[50] T. Jann, K. Doherr, W. Gockel, Parafoil Test Vehicle ALEX-Future Development and Flight Test Results, Proceedings of the CEAS/A1AA 15th Aerodynamic Decelerated Systems Technology Conference, AIAA-99-1751, Toulouse, France, 1999．
[51] B. Birge, G. Walberg, An Investigation of Terminal Guidance and Control Techniques for a Robotic Mars Lander, NASA Grant NAG-1-2086, 1999．
[52] T. Knacke, Steerable Parachutes, Symposium for Aerodynamic Deceleration, Braunschweig. Germany, 1969．
[53] G. Viviani, Application of Parafoils to Microwave Landing System Siting, AIAA-93-1213．
[54] D. Pillasch, D. Pangburn, Impulse Guided Samara Decelerator,AIAA-93-1234．
[55] P. Lissaman, G. Brown, Apparent Mass Effects on Parafoil Dynamics, AIAA-93-1236．
[56] J. Gilkey, Precision Guided Parachute LDRD Final Report, SANDIA REPORT, SAND96-1622． UC-706, 1996．
[57] C. Iacomini, C. Madsen, Investigation of Large Scale Parafoil Rigging Angles: Analytical and Drop Test Results, Proceedings of the CEAS/AIAA 15th Aerodynamic Decelerated Systems Technology Conference, AIAA-99-1752, Toulouse, France, 1999．
[58] G. Brown, Parafoil Steady Turn Response To Control Input, AIAA-93-1241．
[59] J. Hogue, W. Johnson, R. Allen, D Pierce, Parachute Canopy Control and Guidance Training Requirements and Methodology, AIAA-93-1255．
[60] J. Murray, A. Sim, D. Neufeld, P. Rennich, S. Norris, W. Hughes, Further Development and Flight Test of an Autonomous Precision Landing System Using Parafoil, NASA Technical Memorandum 4599．