低成本组合导航系统研究
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摘要
捷联惯性导航系统和全球定位系统所组成的组合导航系统综合了捷联惯导系统的高可靠性和全球定位系统高精度的优点,具有成本低廉、导航精度高、可靠性好的特点,是一种理想的组合方式。本论文中GPS/SINS组合导航系统具有两种组合方式,即无陀螺组合和有陀螺组合。其中,无陀螺组合方式姿态角的计算是通过加速度计和磁阻来完成的;有陀螺组合方式是在无陀螺组合方式的基础上,通过引进一个陀螺,来改善系统动态性能的一种方式。本文对两种组合导航系统中的滤波方法进行了深入研究,并设计了模拟仿真系统以检验滤波效果。
本文首先介绍了导航系统的发展现状,继而介绍了捷联惯导系统的基本原理,建立了捷联惯导及GPS的误差模型,并阐述了卡尔曼滤波在GPS/SINS组合导航系统中的应用。
其次,研究了GPS/SINS组合导航系统的组合方式。着重阐述了两种组合的组合导航系统的原理和特点,并继而针对各种卡尔曼滤波的不同特点建立了组合导航的状态方程和量测方程。
最后,设计了GPS/SINS组合导航半物理仿真系统。利用数学方法模拟出载体轨迹,并仿真模拟陀螺仪、加速度计和磁阻的输出结果,和仿真的GPS数据组合,在此基础上设计了针对组合导航的卡尔曼滤波器、改进自适应滤波器,进行实验研究。实验结果表明自适应滤波器比卡尔曼滤波器的滤波效果要好。
The integrated navigation system of Strapdown Inertial Navigation System and Global Positioning System is an ideal integrated mode, which has advantages of low cost, high precision, and good reliability, since it has integrated the advantage of good reliability of SINS and high precision of GPS. GPS/SINS integrated navigation system has two integrated mode in this thesis, one is No Gyro Integrated Navigation System, the other is Integrated Navigation System with Gyroscope. The attitude angles of the No Gyro Integrated Navigation System are calculated by accelerometer and reluctance. Integrated Navigation System with Gyroscope improves the system dynamic performance by introducing a gyroscope on the basis of the No Gyro Integrated Navigation System. This thesis studied the filtering method of the integrated navigation systems in depth and established the simulation systems to test the filtering effect.
Firstly, the thesis introduced present situation of the navigation system, then the basic principle of SINS and GPS was introduced. The error model of SINS and GPS was established, and the application of kalman filter in GPS/SINS integrated navigation system had be described.
Secondly, the thesis focused on the principle and characteristics of the two kinds of integrated navigation systems, and different status equations and measurement equations was established according to different characteristics of various kalman filters.
Finally, the GPS/SINS semi-physical simulation integrated navigation system was established. The carrier locus had be simulated by mathematical method, the output results of gyroscope、accelerometer and reluctance were simulated, then the results were integrated with simulation GPS data in order to establish integrated navigation system. Standard Kalman Filter, Improved Adaptive Filter were designed. Experiment results shows that Improved Adaptive Filter is more precise than standard Kalman Filter, it can improve the precision of the system and make the system more optimal.
本文首先介绍了导航系统的发展现状,继而介绍了捷联惯导系统的基本原理,建立了捷联惯导及GPS的误差模型,并阐述了卡尔曼滤波在GPS/SINS组合导航系统中的应用。
其次,研究了GPS/SINS组合导航系统的组合方式。着重阐述了两种组合的组合导航系统的原理和特点,并继而针对各种卡尔曼滤波的不同特点建立了组合导航的状态方程和量测方程。
最后,设计了GPS/SINS组合导航半物理仿真系统。利用数学方法模拟出载体轨迹,并仿真模拟陀螺仪、加速度计和磁阻的输出结果,和仿真的GPS数据组合,在此基础上设计了针对组合导航的卡尔曼滤波器、改进自适应滤波器,进行实验研究。实验结果表明自适应滤波器比卡尔曼滤波器的滤波效果要好。
The integrated navigation system of Strapdown Inertial Navigation System and Global Positioning System is an ideal integrated mode, which has advantages of low cost, high precision, and good reliability, since it has integrated the advantage of good reliability of SINS and high precision of GPS. GPS/SINS integrated navigation system has two integrated mode in this thesis, one is No Gyro Integrated Navigation System, the other is Integrated Navigation System with Gyroscope. The attitude angles of the No Gyro Integrated Navigation System are calculated by accelerometer and reluctance. Integrated Navigation System with Gyroscope improves the system dynamic performance by introducing a gyroscope on the basis of the No Gyro Integrated Navigation System. This thesis studied the filtering method of the integrated navigation systems in depth and established the simulation systems to test the filtering effect.
Firstly, the thesis introduced present situation of the navigation system, then the basic principle of SINS and GPS was introduced. The error model of SINS and GPS was established, and the application of kalman filter in GPS/SINS integrated navigation system had be described.
Secondly, the thesis focused on the principle and characteristics of the two kinds of integrated navigation systems, and different status equations and measurement equations was established according to different characteristics of various kalman filters.
Finally, the GPS/SINS semi-physical simulation integrated navigation system was established. The carrier locus had be simulated by mathematical method, the output results of gyroscope、accelerometer and reluctance were simulated, then the results were integrated with simulation GPS data in order to establish integrated navigation system. Standard Kalman Filter, Improved Adaptive Filter were designed. Experiment results shows that Improved Adaptive Filter is more precise than standard Kalman Filter, it can improve the precision of the system and make the system more optimal.
引文
[1]秦永元,惯性导航,北京,科学出版社,2006 ,203-390
[2]袁信,俞济祥,导航系统,北京,航空工业出版社,2002,1-203
[3]张树侠,孙静,捷联式惯性导航系统,北京,国防工业出版社,1992,1-78
[4]陈哲,捷联惯导系统原理,北京,宇航出版社,1986,1-223
[5]刘基余,GPS卫星导航定位原理与方法,北京,科学出版社,2003,1-204
[6]李大威,卡尔曼滤波在INS/GPS组合导航中的应用研究,中北大学,2006
[7]丁衡高,惯性技术文集,北京,国防工业出版社,1994,10-29
[8]袁信,郑谔,捷联式惯性导航原理,北京,航空专业教材编审组,1985, 1-150
[9]赵林,捷联惯导及其组合导航研究[硕士论文],南京:南京理工大学,2002
[10]谷庆红,微机械陀螺仪的研制现状[J],中国惯性技术学报,2003,11(5): 67-72
[11]杨艳娟,捷联惯性导航系统关键技术研究[博士论文],哈尔滨,哈尔滨工程大学,2001
[12]杨宜康,林勇,车辆无陀螺航位推算系统的导航原理及其算法,西安交通大学学报,2001,35(12)
[13]李庆利,薛永祺,无陀螺DR及其与北斗组合导航的融合算法,上海交通大学学报,2006,32(4)
[14]刘小光,谢玲,戴亚平等,捷联式惯性导航系统误差处理技术的新进展火力与指挥控制,2001,26(4):259-262
[15]高新闻,陈孝威,捷联惯性测量系统的误差补偿研究[J],贵州大学学报2003,20(2):173-179
[16]张荣辉,基于四元数法的捷联式惯性导航系统的姿态解算,光学精密工程,2008,16(10)
[17] Neil M Barbour,George T Schmidt,Inertial Sensor Technology Trends,Proceeding of the 1998 Workshop on Autonomous Underwater Vehicl Cambridge MA,1998:56-62.
[19] Geiger W,Folkmer B,Merz J,et al.A new silicon rate gyroscope.Proc IMicro Electro Mechanical Sysems Workshop(MEMS’98).Germany,199615-620.
[20] Tanaka K,Mochida Y,Sugimoto M,A micromachined vibrating gyroscope Sensors Actuators A.1995,50:111-115.
[21]欧阳春林,磁阻罗盘及其在车辆导航中的应用,电光系统,2005,4(4)
[22]刘武发,基于磁阻和MEMS加速度传感器的电子罗盘设计及应用,兵工学报,2008,29(2)
[23]吴富梅,GPS/DR组合导航自适应kalman滤波算法,测绘科学技术学报,2008,25(3)
[24]邱丹,黄圣国,组合航向系统中数字磁罗盘的罗差补偿研究,仪器仪表学报,2006,27(6)
[25]赵俊梅,GPS/SINS组合导航系统滤波算法研究[硕士论文],中北大学,2006
[26]高为广,自适应融合导航理论与方法及其在GPS和INS中的应用,解放军信息工程大学,2005
[27]陈莉,自适应滤波算法与应用研究[硕士论文],西安电子科技大学,2006
[28]李丽锦,基于自适应卡尔曼滤波的捷联惯导非线性对准技术研究[硕士论文],2006
[29]高为广,基于当前加速度模型的抗差自适应kalman滤波,测绘学报,2006,35(1)
[30]张道松,非线性系统滤波及其在制导中的应用研究[硕士论文],哈尔滨工大学,2006
[31]李涛,非线性滤波方法在导航系统中的应用研究[博士论文],国防科学技术大学研究生院,2003
[32]覃方君,基于新息自适应卡尔曼滤波的加速度计信号降噪,数据采集与处理,2009,24(2)
[33]周红进,基于加速度计的无陀螺惯性导航系统设计与仿真,系统工程与电子技术,2007,29(7)
[34] Simon J.Julier,Jeffrey K.Uhlma.Unscented Filtering and Nonli Estimation.Proceedings of the IEEe.2004,92(3):401-420
[35] Cristina Popescu,Yan Shu Wong,The Unscented and Extended Kalman F for Syetems with polynomial Restoring forces.AIAA 2003-14 10:1-11
[36] Joseph J,Laviola Jr.A Comparision of Unscented and Extended Kal Filtering for Estimating Quaternion Motion.American Control Conference,2003,Proceedings of the 2003(3),2435-2440
[37] Thomas H.Kerr.Streamlining measurement iteration for EKF target trackingIEEE Transactions on Aerospace and Electronic Systems.1991,27(2):408-42
[38] Elsa Cortina,Diana Otero.Maneuvering target tracking using extended Kalmfilter.IEEE Transactions on Aerospace and Electronic systems.1991,27(1):155-158.
[39] Larry D.Hostetler,Ronsld D.Andreas.Nonlinear Kalman Filtering Techniqu for Terrain-Aided Navigation.IEEE Tansactions on Automatic Control.198328(3):315-323
[40] Schei T S.A finite-difference method for linearization in nonlinear estimation algorithms.Automatica.1997.33(11):2051-2058.
[41]赵玉霞,捷联惯导系统仿真算法的研究及其实现,大连理工大学,2005
[42]江泽,INS/GPS实时仿真系统研究[硕士论文],西北工业大学,2003
[43]陈帅,薛晓中,吴参林,孙瑞胜,SINS/GPS组合导航仿真系统研究[J],计算机仿真,2007,24(4)
[44]潘涛,低成本SINS/GPS组合导航系统技术[硕士论文],南京理工大学,2004
[45]陶玉贵,车载GPS组合测速系统数据融合算法研究,计算机技术与发展,2009,19(1)
[46]耿延睿,组合导航系统卡尔曼滤波衰减因子自适应估计算法研究,中国惯性技术学报,2001,9(4)
[47]马瑞平,一种改进的自适应卡尔曼滤波及其在组合导航中的应用,中国惯性技术学报,2006,14(6)
[48]黄卫权,基于MTI微惯性航姿系统的卡尔曼滤波器设计,通信与信息处理,2009,28(1)
[49]严恭敏,秦永元,车载激光陀螺SINS/DR组合导航系统研究,弹箭与制导学报,2005
[50]於二军,SINS/GPS组合导航系统的修正自适应滤波方法,火力与指挥控制,2007,32(8)
[2]袁信,俞济祥,导航系统,北京,航空工业出版社,2002,1-203
[3]张树侠,孙静,捷联式惯性导航系统,北京,国防工业出版社,1992,1-78
[4]陈哲,捷联惯导系统原理,北京,宇航出版社,1986,1-223
[5]刘基余,GPS卫星导航定位原理与方法,北京,科学出版社,2003,1-204
[6]李大威,卡尔曼滤波在INS/GPS组合导航中的应用研究,中北大学,2006
[7]丁衡高,惯性技术文集,北京,国防工业出版社,1994,10-29
[8]袁信,郑谔,捷联式惯性导航原理,北京,航空专业教材编审组,1985, 1-150
[9]赵林,捷联惯导及其组合导航研究[硕士论文],南京:南京理工大学,2002
[10]谷庆红,微机械陀螺仪的研制现状[J],中国惯性技术学报,2003,11(5): 67-72
[11]杨艳娟,捷联惯性导航系统关键技术研究[博士论文],哈尔滨,哈尔滨工程大学,2001
[12]杨宜康,林勇,车辆无陀螺航位推算系统的导航原理及其算法,西安交通大学学报,2001,35(12)
[13]李庆利,薛永祺,无陀螺DR及其与北斗组合导航的融合算法,上海交通大学学报,2006,32(4)
[14]刘小光,谢玲,戴亚平等,捷联式惯性导航系统误差处理技术的新进展火力与指挥控制,2001,26(4):259-262
[15]高新闻,陈孝威,捷联惯性测量系统的误差补偿研究[J],贵州大学学报2003,20(2):173-179
[16]张荣辉,基于四元数法的捷联式惯性导航系统的姿态解算,光学精密工程,2008,16(10)
[17] Neil M Barbour,George T Schmidt,Inertial Sensor Technology Trends,Proceeding of the 1998 Workshop on Autonomous Underwater Vehicl Cambridge MA,1998:56-62.
[19] Geiger W,Folkmer B,Merz J,et al.A new silicon rate gyroscope.Proc IMicro Electro Mechanical Sysems Workshop(MEMS’98).Germany,199615-620.
[20] Tanaka K,Mochida Y,Sugimoto M,A micromachined vibrating gyroscope Sensors Actuators A.1995,50:111-115.
[21]欧阳春林,磁阻罗盘及其在车辆导航中的应用,电光系统,2005,4(4)
[22]刘武发,基于磁阻和MEMS加速度传感器的电子罗盘设计及应用,兵工学报,2008,29(2)
[23]吴富梅,GPS/DR组合导航自适应kalman滤波算法,测绘科学技术学报,2008,25(3)
[24]邱丹,黄圣国,组合航向系统中数字磁罗盘的罗差补偿研究,仪器仪表学报,2006,27(6)
[25]赵俊梅,GPS/SINS组合导航系统滤波算法研究[硕士论文],中北大学,2006
[26]高为广,自适应融合导航理论与方法及其在GPS和INS中的应用,解放军信息工程大学,2005
[27]陈莉,自适应滤波算法与应用研究[硕士论文],西安电子科技大学,2006
[28]李丽锦,基于自适应卡尔曼滤波的捷联惯导非线性对准技术研究[硕士论文],2006
[29]高为广,基于当前加速度模型的抗差自适应kalman滤波,测绘学报,2006,35(1)
[30]张道松,非线性系统滤波及其在制导中的应用研究[硕士论文],哈尔滨工大学,2006
[31]李涛,非线性滤波方法在导航系统中的应用研究[博士论文],国防科学技术大学研究生院,2003
[32]覃方君,基于新息自适应卡尔曼滤波的加速度计信号降噪,数据采集与处理,2009,24(2)
[33]周红进,基于加速度计的无陀螺惯性导航系统设计与仿真,系统工程与电子技术,2007,29(7)
[34] Simon J.Julier,Jeffrey K.Uhlma.Unscented Filtering and Nonli Estimation.Proceedings of the IEEe.2004,92(3):401-420
[35] Cristina Popescu,Yan Shu Wong,The Unscented and Extended Kalman F for Syetems with polynomial Restoring forces.AIAA 2003-14 10:1-11
[36] Joseph J,Laviola Jr.A Comparision of Unscented and Extended Kal Filtering for Estimating Quaternion Motion.American Control Conference,2003,Proceedings of the 2003(3),2435-2440
[37] Thomas H.Kerr.Streamlining measurement iteration for EKF target trackingIEEE Transactions on Aerospace and Electronic Systems.1991,27(2):408-42
[38] Elsa Cortina,Diana Otero.Maneuvering target tracking using extended Kalmfilter.IEEE Transactions on Aerospace and Electronic systems.1991,27(1):155-158.
[39] Larry D.Hostetler,Ronsld D.Andreas.Nonlinear Kalman Filtering Techniqu for Terrain-Aided Navigation.IEEE Tansactions on Automatic Control.198328(3):315-323
[40] Schei T S.A finite-difference method for linearization in nonlinear estimation algorithms.Automatica.1997.33(11):2051-2058.
[41]赵玉霞,捷联惯导系统仿真算法的研究及其实现,大连理工大学,2005
[42]江泽,INS/GPS实时仿真系统研究[硕士论文],西北工业大学,2003
[43]陈帅,薛晓中,吴参林,孙瑞胜,SINS/GPS组合导航仿真系统研究[J],计算机仿真,2007,24(4)
[44]潘涛,低成本SINS/GPS组合导航系统技术[硕士论文],南京理工大学,2004
[45]陶玉贵,车载GPS组合测速系统数据融合算法研究,计算机技术与发展,2009,19(1)
[46]耿延睿,组合导航系统卡尔曼滤波衰减因子自适应估计算法研究,中国惯性技术学报,2001,9(4)
[47]马瑞平,一种改进的自适应卡尔曼滤波及其在组合导航中的应用,中国惯性技术学报,2006,14(6)
[48]黄卫权,基于MTI微惯性航姿系统的卡尔曼滤波器设计,通信与信息处理,2009,28(1)
[49]严恭敏,秦永元,车载激光陀螺SINS/DR组合导航系统研究,弹箭与制导学报,2005
[50]於二军,SINS/GPS组合导航系统的修正自适应滤波方法,火力与指挥控制,2007,32(8)