用于舰载无人机回收的惯导测高系统研究
摘要
光学引导舰载无人机撞网回收时,为了使无人机平稳、准确地飞入安装在舰艇尾部甲板上的拦截网中,实现着舰撞网回收,要考虑舰艇因海浪引起的舰体颠簸运动对着舰引导系统的影响,特别是舰船甲板的升沉高度是舰载无人机着舰导引系统必不可少的一个重要参数。舰艇作为三维空间物体,其颠簸运动是一个复杂的六自由度的旋转运动,各个姿态方位参数之间存在着十分复杂而密切的耦合关系,所以,表面上是求取舰船甲板的升沉高度这一个物理量,实际上需要测量计算出全部的姿态方位共计六个参数,这是一个典型的导航算法的应用设计。考虑到MEMS微惯性测量系统具有低成本、微体积、重量轻、高集成度、高可靠性、能承受恶劣的气候环境和机械环境等优点,本文设计了一个基于MEMS-SINS(微机械捷联惯导系统)的舰体升沉高度测量系统,其中采用的四元数导航算法利用simulink进行了模型仿真,最后分析了系统误差,通过试验得到了较理想的系统测量数据。
本论文完成的工作主要分成六个部分:第一部分介绍了课题的背景、适用范围及相关技术的发展概况;第二部分主要论述微惯性测高的理论基础;第三部分给出微惯性测高算法的simulink仿真模型及仿真结果;第四部分给出基于MEMS微惯性测高系统的硬件设计及调试过程;第五部分为微惯性测高系统包括系统测试程序的软件设计;第六部分分析了微惯性测高系统的系统误差,对加速度传感器和角速率传感器做了标定,最后对整个系统的性能指标进行了测试,并提出了补偿误差的具体方法,通过试验证明整个系统设计方案的可行性,并对了后期研究工作的开展提出了建议。最后对全文进行了简要的总结。
During the last phase of auto-landing of Shipborne UAV (unmanned air vehicle), to make the UAV identify and track, and finally fly into the intercept net fixed on the rear deck accurately, it should be considered that the ups and downs of deck influence the landing of UAV. The naval ship, as a three-dimensional object, which are whirling around three space axis while it is tossing. Among the parameters of stance and orientation, there are a complicated coupled connection. Therefore this is a typical application on navigation algorithmic. The heave height of the deck ,which is needed really ,is an important guidance parameter for the UAV in the process of landing while we should find all navigation parameters firstly. Considering the advantages of MEMS (Micro Electrical Mechanical Systems),such as its low costs, small size, light weight, high integration and reliability, which can bear abominable climate environment and mechanical environment ,this paper puts forward a quaternion simulink model for measuring heave height and designs a heavy height measuring system based on SINS theory and MEMS(micro electronic and micro mechanical ) inertial sensors technique. In the last the paper analyses the system error and observes idealer results by system testing.
The main contributions of this dissertation are summarized as follows:
Firstly, the studying object and the development background of the relative technique are introduced.
Secondly, the theory of the micro inertial height measurement is depicted.
Thirdly, arithmetic model base on Simulink for micro inertial heave height measurement is offered ,including the result analysis for the simulation.
Fourthly, the whole hardware design base on ADuC841 single chip of the MEMS-SINS height measuring system is illuminated.
Fifthly, software design is introduced.
Sixthly, system error is analyzed and sensors error is adjusted and the performance of this system is tested.
Finally, the article is summarized and a proposal of the system is given.
本论文完成的工作主要分成六个部分:第一部分介绍了课题的背景、适用范围及相关技术的发展概况;第二部分主要论述微惯性测高的理论基础;第三部分给出微惯性测高算法的simulink仿真模型及仿真结果;第四部分给出基于MEMS微惯性测高系统的硬件设计及调试过程;第五部分为微惯性测高系统包括系统测试程序的软件设计;第六部分分析了微惯性测高系统的系统误差,对加速度传感器和角速率传感器做了标定,最后对整个系统的性能指标进行了测试,并提出了补偿误差的具体方法,通过试验证明整个系统设计方案的可行性,并对了后期研究工作的开展提出了建议。最后对全文进行了简要的总结。
During the last phase of auto-landing of Shipborne UAV (unmanned air vehicle), to make the UAV identify and track, and finally fly into the intercept net fixed on the rear deck accurately, it should be considered that the ups and downs of deck influence the landing of UAV. The naval ship, as a three-dimensional object, which are whirling around three space axis while it is tossing. Among the parameters of stance and orientation, there are a complicated coupled connection. Therefore this is a typical application on navigation algorithmic. The heave height of the deck ,which is needed really ,is an important guidance parameter for the UAV in the process of landing while we should find all navigation parameters firstly. Considering the advantages of MEMS (Micro Electrical Mechanical Systems),such as its low costs, small size, light weight, high integration and reliability, which can bear abominable climate environment and mechanical environment ,this paper puts forward a quaternion simulink model for measuring heave height and designs a heavy height measuring system based on SINS theory and MEMS(micro electronic and micro mechanical ) inertial sensors technique. In the last the paper analyses the system error and observes idealer results by system testing.
The main contributions of this dissertation are summarized as follows:
Firstly, the studying object and the development background of the relative technique are introduced.
Secondly, the theory of the micro inertial height measurement is depicted.
Thirdly, arithmetic model base on Simulink for micro inertial heave height measurement is offered ,including the result analysis for the simulation.
Fourthly, the whole hardware design base on ADuC841 single chip of the MEMS-SINS height measuring system is illuminated.
Fifthly, software design is introduced.
Sixthly, system error is analyzed and sensors error is adjusted and the performance of this system is tested.
Finally, the article is summarized and a proposal of the system is given.
引文
[1]郭丽虹,舰载精密光学系统扰动速度的自稳定控制,光学精密工程,1997年6月:71～74
[2]知识出版社编,中外兵器博览,1994.10:38
[3]彭允祥,捷联惯导和和导航卫星组合技术的发展趋势,导弹与航天运载技术,1999,240(4):58～62
[4]张锐,静电陀螺仪数字式测角系统方案研究,上海交通大学,硕士学位论文,2001.1.1:p2～3
[5]杨剑宏,舰载光纤陀螺捷联系统快速初始对准及GPS/SINS组合技术研究,上海交通大学,博士学位论文,2001.2.1:1～2
[6]钱东,光纤陀螺在惯性基准系统中的应用研究,鱼雷技术,1999年第7卷第3期:44
[7]任学章,本世纪末我国惯性技术发展及今后发展方向的探讨,中国惯性技术学会第四届学术年会论文集,天津,1999:192～195
[8]蒋庆华,音叉电容式微机械陀螺接口电路设计研究,西北工业大学,硕士学位论文,20040301:2
[9]Gabriel,Kaigham,“ Microelectromechanical Systems Program:Summary of Research Activities”, Advanced Research Projects Agency, July 1994.
[10]Gabriel, Jurgen and Gessner, Wolfgang,“ Government Promotion of Microsystems Technology in Europe”, International Working Papers No.1, VDI/VDE Technologiezentrum Informations-technik GmbH, October 1992.
[11]Santo, Brian,“ U.S., Japan Gear Up For Micromachines”, Electronics Engineering Times, November 23, 1993。
[12]Roger T. Howe, Richard S. Muller, Kaigham J.Gabriel, William S.N.Trimmer,“ Silicon micromechanics: sensors and actrators on a chip”,IEEE Spectrum 1990.
[13]Janusz Bryzek,Kurt Pertersen,Wendell McCulley,“ Micromachines on the march”, IEEE Spectrum 1994.
[14]刘瑞华,微机电惯性测量元件在导航系统的应用研究,中国民航学院学报,2003:31
[15]H.C.Nathanson,W.E.Newell,R.A.Wickstrom,et al.,“ The resonant gate transistor”, IEEE Trans. Electron Devices, ED-14, 1987: 117～ 133
[16]W.D.Gates,“ Vibrating angular rate sensor may threaten the gyroscope”,Electronics, 41( 10), 1968: 130～ 134。
[17]黄小振,电容式振动微机械陀螺接口电路的设计、模拟与测试,中国科学院上海冶金研究所,硕士学位论文,2001.8.23:8
[18]Anthony Lawrence. Modern inertial technology: navigation, guidance,and control , New York: Springer, 1998
[19]于波,陈云相,郭秀中编著,惯性技术,北京:北京航空航天大学出版社。1994:221～224
[20]邓正隆,惯性导航原理,哈尔滨工业大学出版社.1994:119～136
[21]Brown A.K., GPS/INS uses low-cost MEMS IMU, IEEE Aerospace and Electronic Systems Magazine, v20, n9, Sept. 2005: 3～ 10
[22]D.H.Titterton.J.L.Weston.Strapdown inertial navigation technology. London, UK: Peter Peregrinis Ltd. On behalf of the Institution of Electrical Engineers.1997
[23]V.Z .Gusinsky,V .M .Lesyuchevsky.Optimization of a Strapdown Atitude Algorithm for a Stochastic Motion.Journal of the Institute of avigation.1997, 44 (2) : 163～ 170
[24]V. Z. Gusinsky, V. M. Lesyuchevsky. New Procedure for Deriving Optimized Strapdown Attitude Algorithms. Journal of Guidance, Control, and Dynamics.1997, 20 (4): 673～ 680
[25]M. B. Ignagni. On the Orientation Vector Diferential Equation in Strapdown Inertial Systems. IEEE Transactions on Aerospace and Electronic Systems.1994, 30 (4): 1076—108
[26]陈哲,全姿态飞机捷联式系统姿态角的计算,航空学报,1984,4(3)
[27] Takahashi, T. Report on the INS experiment Computer Networks and ISDN Systems, v11, n4, April 1986: 269～ 276
[28]袁信,郑谔,捷联式惯性导航原理,南京:航空专业教材编审组,1985:110～106
[29] ADI: Data sheets ADXL203 High Precision, ±1.7g, Dual Axis Accleroeter.2003
[30]ADI: Data sheets ADXRS401 Low-Cost, Integrated, Angular Rate Gyroscop, 2004
[31]ADI:Data sheets ADuC841 Precision Analog Microcontroller: 20MIPS 8052 Flash MCU + 8-Ch 12-Bit ADC + Dual 12-Bit DAC, 2005
[32]李刚,ADuC8××系列单片机原理与应用技术,北京:北京航空航天大学出版社,2002:20～24
[33]刘书明,冯小平,数据采集系统芯片ADuC812原理与应用,西安:西安电子科技大学出版社,2000:66～67
[33] HITACHI: Data sheets HM62256B Series 32, 768-word , 8-bit High Speed CMOS Static RAM, 1995
[34]ATMEL: Data sheets 2-Wire Serial EEPROM AT24C256
[35]TI: Data sheets QUADRUPLE OPERATIONAL AMPLIFIERS LM324,2005
[36]TI: Data sheets FAST TRANSIENT RESPONSE, 1-A LOW-DROPOUT VOLTAGE REGULATORS TPS76580, 2006
[37]赵晶,电路设计与制版:Protel99高级应用,人民邮电出版社,2001年5月:421～422
[38]徐爱钧,彭秀华,Keil Cx51 V7.0单片机高级语言编程与uVision2应用实践,电子工业出版社,2004.6:2～3
[39]谢佩军,计时鸣,张利,VC++与MATLAB混合编程的探讨,计算机应用与软件,2006年2月:128～130
[40]李钟慎,基于MATLAB设计巴特沃斯低通滤波器,信息技术,2003年3月:49～52
[41] Eric Foxlin, Michael Harrington and Yury Altshuler, Miniature 6-DOF inertial system for tracking HMDs, In SPIE vol. 3362, Helmet and Head-Mounted Displays III, AeroSense 98, Orlando, FL, April 13-14, 1998: 20～ 126
[42]吴俊伟,曾启明,聂莉娟,惯性导航系统的误差估计,中国惯性技术学报。2002,10(6):1～5
[43]熊智,刘建业,林雪原等,激光陀螺捷联惯性导航系统中惯性器件误差补偿技术,上海交通大学学报,2003。37(11):1795～1799
[44]D. Manolakis, “Efficient solution and performance analysis of 3-D position estimation by trilateration”, IEEE Trans.Aerospace and Electronic Systems, vol. 32 no. 4, 1999
[45]李挺等,传感器温度误差补偿的计算机软件实现方法,黑龙江商学院学报,2000,16(4):47～48
[46]刘诗斌,高德远,李树国,传感器温度补偿的规律研究,化工自动化及仪表,2000,27,(1):51～53
[47] Olson, D.E An integrated GPS/INS error model Proceedings of the IEEE 1980 National Aerospace and Electronics Conference NAECON 1980, 1980: 777
[48]陈怀等,微机械陀螺仪温度特性及补偿算法研究,传感器技术,2003,23(10):25～27
[49]李科杰,现代传感器技术,北京,电子工业出版社,2005:308～318
[50]姜军,捷联惯导系统初始对准滤波算法研究,哈尔滨工业大学硕士学位论文,20050601:26
[2]知识出版社编,中外兵器博览,1994.10:38
[3]彭允祥,捷联惯导和和导航卫星组合技术的发展趋势,导弹与航天运载技术,1999,240(4):58～62
[4]张锐,静电陀螺仪数字式测角系统方案研究,上海交通大学,硕士学位论文,2001.1.1:p2～3
[5]杨剑宏,舰载光纤陀螺捷联系统快速初始对准及GPS/SINS组合技术研究,上海交通大学,博士学位论文,2001.2.1:1～2
[6]钱东,光纤陀螺在惯性基准系统中的应用研究,鱼雷技术,1999年第7卷第3期:44
[7]任学章,本世纪末我国惯性技术发展及今后发展方向的探讨,中国惯性技术学会第四届学术年会论文集,天津,1999:192～195
[8]蒋庆华,音叉电容式微机械陀螺接口电路设计研究,西北工业大学,硕士学位论文,20040301:2
[9]Gabriel,Kaigham,“ Microelectromechanical Systems Program:Summary of Research Activities”, Advanced Research Projects Agency, July 1994.
[10]Gabriel, Jurgen and Gessner, Wolfgang,“ Government Promotion of Microsystems Technology in Europe”, International Working Papers No.1, VDI/VDE Technologiezentrum Informations-technik GmbH, October 1992.
[11]Santo, Brian,“ U.S., Japan Gear Up For Micromachines”, Electronics Engineering Times, November 23, 1993。
[12]Roger T. Howe, Richard S. Muller, Kaigham J.Gabriel, William S.N.Trimmer,“ Silicon micromechanics: sensors and actrators on a chip”,IEEE Spectrum 1990.
[13]Janusz Bryzek,Kurt Pertersen,Wendell McCulley,“ Micromachines on the march”, IEEE Spectrum 1994.
[14]刘瑞华,微机电惯性测量元件在导航系统的应用研究,中国民航学院学报,2003:31
[15]H.C.Nathanson,W.E.Newell,R.A.Wickstrom,et al.,“ The resonant gate transistor”, IEEE Trans. Electron Devices, ED-14, 1987: 117～ 133
[16]W.D.Gates,“ Vibrating angular rate sensor may threaten the gyroscope”,Electronics, 41( 10), 1968: 130～ 134。
[17]黄小振,电容式振动微机械陀螺接口电路的设计、模拟与测试,中国科学院上海冶金研究所,硕士学位论文,2001.8.23:8
[18]Anthony Lawrence. Modern inertial technology: navigation, guidance,and control , New York: Springer, 1998
[19]于波,陈云相,郭秀中编著,惯性技术,北京:北京航空航天大学出版社。1994:221～224
[20]邓正隆,惯性导航原理,哈尔滨工业大学出版社.1994:119～136
[21]Brown A.K., GPS/INS uses low-cost MEMS IMU, IEEE Aerospace and Electronic Systems Magazine, v20, n9, Sept. 2005: 3～ 10
[22]D.H.Titterton.J.L.Weston.Strapdown inertial navigation technology. London, UK: Peter Peregrinis Ltd. On behalf of the Institution of Electrical Engineers.1997
[23]V.Z .Gusinsky,V .M .Lesyuchevsky.Optimization of a Strapdown Atitude Algorithm for a Stochastic Motion.Journal of the Institute of avigation.1997, 44 (2) : 163～ 170
[24]V. Z. Gusinsky, V. M. Lesyuchevsky. New Procedure for Deriving Optimized Strapdown Attitude Algorithms. Journal of Guidance, Control, and Dynamics.1997, 20 (4): 673～ 680
[25]M. B. Ignagni. On the Orientation Vector Diferential Equation in Strapdown Inertial Systems. IEEE Transactions on Aerospace and Electronic Systems.1994, 30 (4): 1076—108
[26]陈哲,全姿态飞机捷联式系统姿态角的计算,航空学报,1984,4(3)
[27] Takahashi, T. Report on the INS experiment Computer Networks and ISDN Systems, v11, n4, April 1986: 269～ 276
[28]袁信,郑谔,捷联式惯性导航原理,南京:航空专业教材编审组,1985:110～106
[29] ADI: Data sheets ADXL203 High Precision, ±1.7g, Dual Axis Accleroeter.2003
[30]ADI: Data sheets ADXRS401 Low-Cost, Integrated, Angular Rate Gyroscop, 2004
[31]ADI:Data sheets ADuC841 Precision Analog Microcontroller: 20MIPS 8052 Flash MCU + 8-Ch 12-Bit ADC + Dual 12-Bit DAC, 2005
[32]李刚,ADuC8××系列单片机原理与应用技术,北京:北京航空航天大学出版社,2002:20～24
[33]刘书明,冯小平,数据采集系统芯片ADuC812原理与应用,西安:西安电子科技大学出版社,2000:66～67
[33] HITACHI: Data sheets HM62256B Series 32, 768-word , 8-bit High Speed CMOS Static RAM, 1995
[34]ATMEL: Data sheets 2-Wire Serial EEPROM AT24C256
[35]TI: Data sheets QUADRUPLE OPERATIONAL AMPLIFIERS LM324,2005
[36]TI: Data sheets FAST TRANSIENT RESPONSE, 1-A LOW-DROPOUT VOLTAGE REGULATORS TPS76580, 2006
[37]赵晶,电路设计与制版:Protel99高级应用,人民邮电出版社,2001年5月:421～422
[38]徐爱钧,彭秀华,Keil Cx51 V7.0单片机高级语言编程与uVision2应用实践,电子工业出版社,2004.6:2～3
[39]谢佩军,计时鸣,张利,VC++与MATLAB混合编程的探讨,计算机应用与软件,2006年2月:128～130
[40]李钟慎,基于MATLAB设计巴特沃斯低通滤波器,信息技术,2003年3月:49～52
[41] Eric Foxlin, Michael Harrington and Yury Altshuler, Miniature 6-DOF inertial system for tracking HMDs, In SPIE vol. 3362, Helmet and Head-Mounted Displays III, AeroSense 98, Orlando, FL, April 13-14, 1998: 20～ 126
[42]吴俊伟,曾启明,聂莉娟,惯性导航系统的误差估计,中国惯性技术学报。2002,10(6):1～5
[43]熊智,刘建业,林雪原等,激光陀螺捷联惯性导航系统中惯性器件误差补偿技术,上海交通大学学报,2003。37(11):1795～1799
[44]D. Manolakis, “Efficient solution and performance analysis of 3-D position estimation by trilateration”, IEEE Trans.Aerospace and Electronic Systems, vol. 32 no. 4, 1999
[45]李挺等,传感器温度误差补偿的计算机软件实现方法,黑龙江商学院学报,2000,16(4):47～48
[46]刘诗斌,高德远,李树国,传感器温度补偿的规律研究,化工自动化及仪表,2000,27,(1):51～53
[47] Olson, D.E An integrated GPS/INS error model Proceedings of the IEEE 1980 National Aerospace and Electronics Conference NAECON 1980, 1980: 777
[48]陈怀等,微机械陀螺仪温度特性及补偿算法研究,传感器技术,2003,23(10):25～27
[49]李科杰,现代传感器技术,北京,电子工业出版社,2005:308～318
[50]姜军,捷联惯导系统初始对准滤波算法研究,哈尔滨工业大学硕士学位论文,20050601:26