INS辅助的GPS接收机研究
摘要
高速运动物体的远距离精确导航是导航研究的热点问题。INS(Inertial Navigation System)/GPS(Global Positioning System)组合导航系统综合了INS和GPS两者的优点,能够提高导航精度,成为当代导航的发展方向之一。本文针对INS/GPS组合导航系统,重点研究了信息融合算法及INS速度辅助的GPS接收机性能,主要成果如下:
1、设计了一种飞行器轨迹产生方法,并完成不同坐标下的坐标转换;对惯性器件的陀螺仪和加速度计进行建模仿真。
2、分析INS及GPS系统误差源并对误差进行建模,仿真实现卡尔曼滤波算法对误差进行最优估计。
3、针对统计模型的不准确度,在研究卡尔曼算法特点的基础上,选取一种基于模糊控制的指数加权卡尔曼滤波算法。仿真结果表明,该算法抑制了滤波器发散,从而提高了导航精度。
4、研究有惯性速度辅助下的GPS接收机的带宽、跟踪和捕获性能,仿真结果表明:有INS速度辅助GPS接收机跟踪环路的锁定时间为无辅助的1/100,有效地提高了接收机性能。
The precise navigation of high speed objects in long distance is a hot topic in navigation research. INS(Inertial Navigation System)/GPS(Global Positioning System) integrated navigation system take both the advantages of INS and GPS, it can improve the positioning precision and has been one of the development directions of modern navigation system. Aimed at INS/GPS integrated navigation system, this thesis puts emphasis on information fusion algorithms and characteristic of GPS receiver aided by velocity signal provided by INS. The main contribution of this thesis is as follows,
1. A track generating method is designed and the coordinate conversion of different coordinates is completed. The modeling of gyroscope and accelerometer of INS is given.
2. The main error sources of INS and GPS are studied and their modes are established. The error is optimally estimated by Kalman filter algorithm.
3. Aiming at the inaccurate error mode, through analysis of the characteristic of Kalman filter algorithm, a weighted exponential Kalman fiiter algorithm based on fuzzy control is introduced. Simulation results prove that the tracking performance of filter is enhanced, thus positioning precision of the integrated navigation can be improved.
4. Bandwidth, tracking and capture characteristic of GPS receiver aided by velocity signal provided by INS are studied. Simulation results show that the transition time of such GPS receiver is one percent of original GPS receiver. Its performances are improved effectively.
1、设计了一种飞行器轨迹产生方法,并完成不同坐标下的坐标转换;对惯性器件的陀螺仪和加速度计进行建模仿真。
2、分析INS及GPS系统误差源并对误差进行建模,仿真实现卡尔曼滤波算法对误差进行最优估计。
3、针对统计模型的不准确度,在研究卡尔曼算法特点的基础上,选取一种基于模糊控制的指数加权卡尔曼滤波算法。仿真结果表明,该算法抑制了滤波器发散,从而提高了导航精度。
4、研究有惯性速度辅助下的GPS接收机的带宽、跟踪和捕获性能,仿真结果表明:有INS速度辅助GPS接收机跟踪环路的锁定时间为无辅助的1/100,有效地提高了接收机性能。
The precise navigation of high speed objects in long distance is a hot topic in navigation research. INS(Inertial Navigation System)/GPS(Global Positioning System) integrated navigation system take both the advantages of INS and GPS, it can improve the positioning precision and has been one of the development directions of modern navigation system. Aimed at INS/GPS integrated navigation system, this thesis puts emphasis on information fusion algorithms and characteristic of GPS receiver aided by velocity signal provided by INS. The main contribution of this thesis is as follows,
1. A track generating method is designed and the coordinate conversion of different coordinates is completed. The modeling of gyroscope and accelerometer of INS is given.
2. The main error sources of INS and GPS are studied and their modes are established. The error is optimally estimated by Kalman filter algorithm.
3. Aiming at the inaccurate error mode, through analysis of the characteristic of Kalman filter algorithm, a weighted exponential Kalman fiiter algorithm based on fuzzy control is introduced. Simulation results prove that the tracking performance of filter is enhanced, thus positioning precision of the integrated navigation can be improved.
4. Bandwidth, tracking and capture characteristic of GPS receiver aided by velocity signal provided by INS are studied. Simulation results show that the transition time of such GPS receiver is one percent of original GPS receiver. Its performances are improved effectively.
引文
[1] Elliott D. Kaplan著,邱致和,王万义译. GPS原理与应用.电子工业出版社,2002年8月.
[2]秦永元.惯性导航.北京:科学出版社,2006.
[3]秦永元,张洪钺,汪叔华. Kalman滤波与组合导航原理.西北工业大学出版社,2004.
[4]董绪荣,张守信,华仲春. GPS/INS组合导航定位及其应用.国防科技大学出版社,1998.
[5] Parkinson B. W., Spilker J. J. Jr.. Global Positioning System: Theory and Applications. 370 L’Enfant Promenade, SW, Washington DC: American Institute of Aeronautics and Astronautics, 1996.
[6] Liu Ren-Yong, Addams G.,Lindquist E., etal, Test results from tactical grade IMU using fiber optic gyros and quartz accelerometers. Position, Location and Navigation Symposium,Atilanta,1996,42-48.
[7]肖文,伊小素,杨远洪等.一种新型光纤陀螺与光纤加速度计组合研究.国外惯性技术信息,2004,1(10):1-5.
[8]张红梅.非线性滤波及其在姿态确定和导航中的应用.哈尔滨工业大学博士学位论文,2004年7月.
[9]孙婉莹.高动态GPS接收机C/A码的接收及其FPGA的实现研究.西安电子科技大学硕士学位论文,2007年3月.
[10]张景伟. INS/GPS/SAR组合导航系统关键问题研究.西北工业大学博士学位论文,2003年7月.
[11] William H.Tranter, K.Sam Shanmugan, Theodore S.Rappaport. Principles of Communication Systems Simulation with Wireless Applications. 2004
[12]张春慧,吴简彤,何昆鹏.四阶龙格-库塔法在捷联惯导系统姿态解算中的应用.声学与电子工程,2005年第一期,37-48.
[13] Mohinder S.Grewal, Lawrence R.Weill,and Angus P.Andrews, Global Positioning Systems, Inrttial Navigation and Integration, WILEY-INTER SCIENCE, INC.,Publication.2007.
[14] J.Z.Sasiadek, Q.Wang and M.B.Zeremba, Fuzzy Adaptive Kalman Filterting for INS/GPS Data Fusion, Proceedings of the 15th IEEE International Symposium on Intelligent Control, 2000.
[15]薛文芳.高动态GPS接收机设计中的几个关键问题的研究.北京航空航天大学博士学位论文,2002年9月.
[16] Mohinder S. Grewal, Angus P. Andrews, Kalman Filtering: Theory and Practive Using MATLAB. John Wiley&Sons, 2001.
[17]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.科学出版社,2003.
[18] Carlson N A. Federated Kalman filter simulation results[J], Navigation:Journal of the Institute of Navigation,1994,41(3).
[19] TSO-C129,Airborne supplemental navigation equipment using the global positioning system(GPS),Washington DC:Department of Transportation,Federal Aviation Administration, Aircraft Certification Service, 1992.
[20] Sinpyo Hong, Man Hyung Lee, Observability of Error States in GPS/INS Integration. IEEE Transactions on Vehicular Techbology, March 2005,Vol.54, No.2, 731-743.
[21] Eli Brookner, Tracking and Kalman Filtering Made Easy, John Wiley&Sons,1998.
[22]马忠孝,刘宗玉,陈明.基于模糊逻辑的自适应卡尔曼滤波在GPS/INS组合导航中的应用.信息与控制,2006年8月,第35卷第4期,457-461.
[23] Chunmei Huang, Yantao Tian,Wanxin Su. Design of GPS/INS Integrated Navigation Syatem Based on Multisensor Information Fusion. Proceeding of the 6th World Congress on Intelligent Control and Automation. June 21-23, 2006. Dalian, China.pp:5218-5222.
[24] Kwangjin Kim, Chan Gook Park. INS/GPS Tightly Coupled Approach Using an INS Error Predictor.ION GNSS 18th International Technical Meeting of theSatellite Division, 13-16 September 2005, Long Beach, CA.
[25] SinpyoHong, ManHyungLee, Ho-HwanChun, Sun-Hong Kwon, Jason L. Speyer. Observability of Error States in GPS/INS Integration. IEEE Transactions on Vehicular Technology, Vol.54, No.2, March 2005,731-743.
[26]王惠南. GPS导航原理与应用.科学出版社,2003.
[27] M.Uenoyama, H.Nakamura, H.nishitani. Novel Position Estimation for GPS and Low-Cost INS Fusion. IEEE, 2006, 630-635.
[28] C.Hide,T.Moore,M.Smith. Adaptive Kalman Filtering Algorithms for Integrating GPS and Low-Cost INS.Proc. IEEE PLANS, 2004.
[29]赵伟,万德均,刘建业.一种用INS辅助GPS周跳检测和求解整周模糊度的方法.中国空间科学技术,2004年4月,第2期,13-18.
[30]干国强等.导航与定位.国防工业出版社, 2004年2月.
[2]秦永元.惯性导航.北京:科学出版社,2006.
[3]秦永元,张洪钺,汪叔华. Kalman滤波与组合导航原理.西北工业大学出版社,2004.
[4]董绪荣,张守信,华仲春. GPS/INS组合导航定位及其应用.国防科技大学出版社,1998.
[5] Parkinson B. W., Spilker J. J. Jr.. Global Positioning System: Theory and Applications. 370 L’Enfant Promenade, SW, Washington DC: American Institute of Aeronautics and Astronautics, 1996.
[6] Liu Ren-Yong, Addams G.,Lindquist E., etal, Test results from tactical grade IMU using fiber optic gyros and quartz accelerometers. Position, Location and Navigation Symposium,Atilanta,1996,42-48.
[7]肖文,伊小素,杨远洪等.一种新型光纤陀螺与光纤加速度计组合研究.国外惯性技术信息,2004,1(10):1-5.
[8]张红梅.非线性滤波及其在姿态确定和导航中的应用.哈尔滨工业大学博士学位论文,2004年7月.
[9]孙婉莹.高动态GPS接收机C/A码的接收及其FPGA的实现研究.西安电子科技大学硕士学位论文,2007年3月.
[10]张景伟. INS/GPS/SAR组合导航系统关键问题研究.西北工业大学博士学位论文,2003年7月.
[11] William H.Tranter, K.Sam Shanmugan, Theodore S.Rappaport. Principles of Communication Systems Simulation with Wireless Applications. 2004
[12]张春慧,吴简彤,何昆鹏.四阶龙格-库塔法在捷联惯导系统姿态解算中的应用.声学与电子工程,2005年第一期,37-48.
[13] Mohinder S.Grewal, Lawrence R.Weill,and Angus P.Andrews, Global Positioning Systems, Inrttial Navigation and Integration, WILEY-INTER SCIENCE, INC.,Publication.2007.
[14] J.Z.Sasiadek, Q.Wang and M.B.Zeremba, Fuzzy Adaptive Kalman Filterting for INS/GPS Data Fusion, Proceedings of the 15th IEEE International Symposium on Intelligent Control, 2000.
[15]薛文芳.高动态GPS接收机设计中的几个关键问题的研究.北京航空航天大学博士学位论文,2002年9月.
[16] Mohinder S. Grewal, Angus P. Andrews, Kalman Filtering: Theory and Practive Using MATLAB. John Wiley&Sons, 2001.
[17]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.科学出版社,2003.
[18] Carlson N A. Federated Kalman filter simulation results[J], Navigation:Journal of the Institute of Navigation,1994,41(3).
[19] TSO-C129,Airborne supplemental navigation equipment using the global positioning system(GPS),Washington DC:Department of Transportation,Federal Aviation Administration, Aircraft Certification Service, 1992.
[20] Sinpyo Hong, Man Hyung Lee, Observability of Error States in GPS/INS Integration. IEEE Transactions on Vehicular Techbology, March 2005,Vol.54, No.2, 731-743.
[21] Eli Brookner, Tracking and Kalman Filtering Made Easy, John Wiley&Sons,1998.
[22]马忠孝,刘宗玉,陈明.基于模糊逻辑的自适应卡尔曼滤波在GPS/INS组合导航中的应用.信息与控制,2006年8月,第35卷第4期,457-461.
[23] Chunmei Huang, Yantao Tian,Wanxin Su. Design of GPS/INS Integrated Navigation Syatem Based on Multisensor Information Fusion. Proceeding of the 6th World Congress on Intelligent Control and Automation. June 21-23, 2006. Dalian, China.pp:5218-5222.
[24] Kwangjin Kim, Chan Gook Park. INS/GPS Tightly Coupled Approach Using an INS Error Predictor.ION GNSS 18th International Technical Meeting of theSatellite Division, 13-16 September 2005, Long Beach, CA.
[25] SinpyoHong, ManHyungLee, Ho-HwanChun, Sun-Hong Kwon, Jason L. Speyer. Observability of Error States in GPS/INS Integration. IEEE Transactions on Vehicular Technology, Vol.54, No.2, March 2005,731-743.
[26]王惠南. GPS导航原理与应用.科学出版社,2003.
[27] M.Uenoyama, H.Nakamura, H.nishitani. Novel Position Estimation for GPS and Low-Cost INS Fusion. IEEE, 2006, 630-635.
[28] C.Hide,T.Moore,M.Smith. Adaptive Kalman Filtering Algorithms for Integrating GPS and Low-Cost INS.Proc. IEEE PLANS, 2004.
[29]赵伟,万德均,刘建业.一种用INS辅助GPS周跳检测和求解整周模糊度的方法.中国空间科学技术,2004年4月,第2期,13-18.
[30]干国强等.导航与定位.国防工业出版社, 2004年2月.