经济型捷联航姿系统关键技术研究
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摘要
本文对微机械陀螺/微机械加速度计/电子罗盘/GPS的经济型组合捷联航姿系统的关键技术及工程实现问题进行了深入研究和必要的工程实验,为该项技术的推广应用奠定了基础。
传感器误差是影响姿态解算精度的主要因素。因此本文对传感器的误差进行分析和补偿,并对传感器的数据进行处理。重点研究了微机械陀螺的随机漂移误差建模方法,将小波分析理论引入到微机械陀螺的随机漂移建模中,提高了建模精度。从工程实用的角度出发,对现有捷联姿态算法进行分析和比较,得出四阶龙格库塔法更适合实际应用的结论。
由于微机械陀螺长时间运行后存在较大的积累误差,本文采用基于Kalman滤波器的多传感器信息融合技术来修正该误差,并给出了Kalman滤波算法和四阶龙格库塔算法组合校正陀螺漂移误差的定姿算法。
建立了组合航姿系统的试验系统,并通过对该系统的静、动态试验,验证了算法的可行性和有效性。
The key technologies and engineering implementation problems of the economic integrated strapdown attitude heading reference system which is based on micro-machined gyroscope, micro-machined accelerometer, GPS and electric compass are further discussed in this paper, and necessary engineering experiments are carried out, which lays a foundation for the widely using of the technology.
Sensor errors are the main factors which have influence on attitude algorithm accuracy. So the analysis and compensation to sensor error, as well as the sensor data processing are done in this paper. The modeling method of micro-machined gyroscope random drift error is mainly studied, and wavelet analysis theory is introduced into the micro-machined gyroscope random drift modeling, which increases the modeling accuracy. From the view of engineering utility, through the analysis and comparison of the existing strapdown attitude algorithm,we get that the quaternion forth order runge-kutta method is more suitable for practical application.
As micro-gyroscope has large accumulated errors after long running, multi-sensor data fusion technology based on Kalman filter is adopted to correct the accumulated error, and the integrated attitude determination algorithm based on Kalman filter and the forth order runge-kutta method is put forward in this paper.
The testing system of integrated strapdown attitude heading reference system is established, and the effectiveness and feasibility of the algorithms are verified through by static and dynamic experiment.
传感器误差是影响姿态解算精度的主要因素。因此本文对传感器的误差进行分析和补偿,并对传感器的数据进行处理。重点研究了微机械陀螺的随机漂移误差建模方法,将小波分析理论引入到微机械陀螺的随机漂移建模中,提高了建模精度。从工程实用的角度出发,对现有捷联姿态算法进行分析和比较,得出四阶龙格库塔法更适合实际应用的结论。
由于微机械陀螺长时间运行后存在较大的积累误差,本文采用基于Kalman滤波器的多传感器信息融合技术来修正该误差,并给出了Kalman滤波算法和四阶龙格库塔算法组合校正陀螺漂移误差的定姿算法。
建立了组合航姿系统的试验系统,并通过对该系统的静、动态试验,验证了算法的可行性和有效性。
The key technologies and engineering implementation problems of the economic integrated strapdown attitude heading reference system which is based on micro-machined gyroscope, micro-machined accelerometer, GPS and electric compass are further discussed in this paper, and necessary engineering experiments are carried out, which lays a foundation for the widely using of the technology.
Sensor errors are the main factors which have influence on attitude algorithm accuracy. So the analysis and compensation to sensor error, as well as the sensor data processing are done in this paper. The modeling method of micro-machined gyroscope random drift error is mainly studied, and wavelet analysis theory is introduced into the micro-machined gyroscope random drift modeling, which increases the modeling accuracy. From the view of engineering utility, through the analysis and comparison of the existing strapdown attitude algorithm,we get that the quaternion forth order runge-kutta method is more suitable for practical application.
As micro-gyroscope has large accumulated errors after long running, multi-sensor data fusion technology based on Kalman filter is adopted to correct the accumulated error, and the integrated attitude determination algorithm based on Kalman filter and the forth order runge-kutta method is put forward in this paper.
The testing system of integrated strapdown attitude heading reference system is established, and the effectiveness and feasibility of the algorithms are verified through by static and dynamic experiment.
引文
[1]懂绪荣,张守信,华仲春.GPS/INS组合导航定位及其应用.长沙:国防科技大学出版社,1998.13-16
[2] J. Beser, S. Alexander, R.Crane, et al. TRUNAVTM: A Low-cost Guidance/ Navigation Unit Integrating A SAASM-BASED GPS and MEMS IMU in A Deeply Coupled Mechanization, ION GPS 2002,Sep. 24-27, 2002, Portland, Oregon,USA.
[3] Elwell J. Progress on Micromechanical Inertial Instruments. AIAA-91-2765-CP: 1482-1485.
[4] C. Hide, T. Moore, M. Smith. Adaptive Kalman filtering for low cost INS/GPS. ION GPS 2002. Sep. 24-27, 2002, Portland, Oregon, USA.
[5]卢大伟.多传感器数据融合方法在新型组合航姿系统中的应用研究.东南大学,博士论文.2001,12.
[6]高钟毓.微机械惯性仪表的原理结构与制造技术.半导体情报,1997,34(2):1-10.
[7]陶素云.陀螺仪原理及应用.哈尔滨:哈尔滨工业大学出版社,1985.
[8] DoroninVP,MezentsevAP,NeapolitanskyAS,etal.PrecisionMicromechanicalGyro:PathwaytoAdvance.In:Ion52ndAnnualMeeting,Cambridge,June19~21,1996;469-475
[9] HarrisAJ,BurdessJS,WoodD,etal.VibratingSilixonDiaphragmMicromechanicalGyroscope.ElectronicsLet ters,August31,1995;(31)18
[10] KENNYTW, WALTMANSB, REYNOLDSJK, et al. Micromachined silicon tunnel sensor for motion detection. Appl. Phys. Lett, 1991, 58(1):7.
[11]郝颖.微机械加速度计的测试与应用研究.哈尔滨工程大学,硕士论文.2002,1.
[12]郝颖.微机械加速度计的测试与应用研究.哈尔滨工程大学,硕士论文.2002,1.
[13]郭秀中等.微机械梳状驱动陀螺仪的理论分析,传感器技术,1997.16(3),23-26.
[14]陈家斌等,振动式微机械陀螺仪动力学分析,兵工学报,1997.18(2),178-181.
[15]杨叔子等.时间序列分析的工程应用(上册).武汉:华中理工大学出版社.1991.
[16]翁海娜,李滋刚,等.液浮陀螺漂移的试验建模研究.中国惯性技术学报,1999,7(2):30-34.
[17]武丽花,凌林本.三浮陀螺仪漂移模型的建立及MATLAB实现.中国惯性技术学报,2004,12(6):75-78.
[18] Mallat S.A theory for multiresolution signal decomposition:the wavelet representation[J].IEEE Pattern Anal.and Machine Intell.,1989,11(7).
[19] Broersen, P. M. T. de Waele, S. Costs of order selection in time series analysis.Instrumentation and Measurement Technology Conference. Proceedings of the 19th IEEE, Volume: 1, 21-23 May2002, Pages: 303-308.
[20]刘武发,蒋蓁,龚振邦.基于MEMS加速度传感器的双轴倾角计及其应用.传感器技术.2005,24(3):86-88.
[21]黄旭.微机械惯性器件/GPS/磁强计组合航向姿态确定研究.哈尔滨工业大学,博士论文. 2005,10.
[22] ZC-TD系列倾角模块使用说明书.上海直川公司.
[23]潘尚龙.GPS系统及其应用.太原城市职业技术学院学报.2007,72:146-147.
[24]曾元萍.GPS航姿系统研究.南京航空航天大学,硕士论文.2000,3.
[25]栾锡武,鲁银涛,徐涛.海洋地球物理测量中GPS数据问题与处理.地球物理学进展,2005,12(4):897-904.
[26]朱荣生,施小成.一种用于GPS数据处理中剔除野值的算法.中国惯性技术学报,2000,8(2):27-30.
[27] GARMIN GPS OEM产品说明书.北京合众思壮科技有限责任公司技术部.
[28]熊志昂,李红瑞,赖顺香.GPS技术与工程应用.北京:国防工业出版社,2005.
[29]王惟言.自助式GPS终端的实现与应用.微计算机信息,2006,22(5):268-270.
[30] ZCC-D-I-TTL两轴数字罗盘使用说明书.上海直川信息技术有限公司.
[31] Honeywell. HMR3000 Digital Compass Module User’s Guide[Z].1999.
[32]赵来定,徐江,周月臣.小型三轴数字罗盘测量误差分析.现代雷达,2004,26(11):53-55.
[33]蒋贤志.数字电子罗盘误差分析及校正技术研究.现代雷达,2005,27(6):39-41.
[34]杨新勇,黄圣国.磁罗盘的罗差分析与验证.电子科技大学学报,2004,33(5):547-550.
[35]秦永元.惯性导航.北京:科学出版社.2006.78-79.
[36]邓正隆编著.惯性导航原理.哈尔滨:哈尔滨工业大学出版社.1994. 118-135.
[37]郭圣权等.捷联惯性导航中一种算法的推证.华北工学院,2002,1.13-16.
[38]陈哲著.捷联惯性系统原理.北京:宇航出版社1986.124-235.
[39]崔中兴著.惯性导航系统.北京:国防工业出版社.1982.60-96.
[40] BORTZ J E. A new mathematical formulation for strapdown inertial navigation. IEEE Trans on Aerospace and Electronic System, 1971, 1(7):61-66.
[41] Miller R B,A new strapdown attitude algorithm . Journal of Guidance, Control,and Dynamics,1983.6( 4): 289-291.
[42] J.G. Lee, Y.J .Yoon, J.G. Mark. Extension of strap-down attitude algorithm for high frequency base motion. Journal of guidance , control, and dynamics.1990, 13(4):738-743.
[43]谢荣生.捷联惯导系统姿态解算的研究.哈尔滨工程大学,硕士论文.2000,1.
[44] MillerRB.Anewstrapdownattitudealgorithm.JournalofGuidance,Contr-ol,andDynamics,1983,6(4)
[45] LeeJG,YoonYJ,MarkJG.Extensionofstrapdownattitudealgorithmforhighfrequencybasemotion.JournalofGuidance,Control,andDynamics,1990,13(4):738-743.
[46] JiangYF,LinYP.Improvedstrapdownconingalgorithm.IEEETransactiononAerospaceandElectronic Systems,1992,28(2):484-490.
[47] R.E.KALMAN. A New Approach to Linear Filtering and Prediction Problems.Trans. ASME. Journal of Basic Eng, 1960, 82D:35-46.
[48]付梦印,邓志红,张继伟编著.Kalman滤波理论及其在导航系统中的应用.北京:北京科学出版社.2003.20-23.
[49] J.L. Marins,Xiaoping Yun,E.R. Bachmann,et al. An Extended Kalman Filter for Quaternion-Based Orientation Estimation Using MARG Sensors. Proceedings of the 2001 IEEE/RSJ.International Conference on Intelligent Robots and System. Maui,2001:2003-2011
[50] GAO Zhong-yu, NIU Xiao-ji, GUOMei-fen. Quaternion-Based Kalman Filter for Micro- machine Strapdown Attitude Heading Reference System. CHINESE JOURNAL OF AERONAUTICS. 2002, 15(3):171-175.
[51]程向红等.船用捷联航姿在系泊状态下的快速初始对准方法.船舶工程. 1997, 3:56-62.
[52] Demoz Gebre-Egziabher,Roger C.Hayward,J.David Powell. Design of Multi-Sensor Attitude Determination Systems. IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS.2004,40(2):627-649.
[53]施闻明,徐彬,陈利敏.捷联式航姿系统中四元素算法Kalman滤波器的实现研究.自动化技术与应用.2005, 24(11).6-8.
[54] Analog Devices Inc.±300°Ps single chip yaw rate gyro with signal conditioning ADXRS300. 29973351 ADXRS300-a, 2003.
[55]微型固态陀螺MEMS角速度传感器说明书.陕西航天长城科技有限公司.
[56] Analog Devices Inc. A Low Cost士2g/士10g Dual Axis Accelerometers with Digital Output. ADXL202-E, 2000.Jian Wang,Baigen Cai. A Low-cost Integrated GPS/INS Navigation System for the Land Vehicle.
[57]钱建立.8阶开关电容滤波器MAX29X系列的应用设计.新特元器件应用,1995,1:5-9.
[58] AD7862 Data SHeet. ANALOG DEVICES, 1999.
[59]张晶,曾宪云.闪速存储器AT29C040与单片机的接口设计.EDA技术专栏,2003,28(5):75-78.
[2] J. Beser, S. Alexander, R.Crane, et al. TRUNAVTM: A Low-cost Guidance/ Navigation Unit Integrating A SAASM-BASED GPS and MEMS IMU in A Deeply Coupled Mechanization, ION GPS 2002,Sep. 24-27, 2002, Portland, Oregon,USA.
[3] Elwell J. Progress on Micromechanical Inertial Instruments. AIAA-91-2765-CP: 1482-1485.
[4] C. Hide, T. Moore, M. Smith. Adaptive Kalman filtering for low cost INS/GPS. ION GPS 2002. Sep. 24-27, 2002, Portland, Oregon, USA.
[5]卢大伟.多传感器数据融合方法在新型组合航姿系统中的应用研究.东南大学,博士论文.2001,12.
[6]高钟毓.微机械惯性仪表的原理结构与制造技术.半导体情报,1997,34(2):1-10.
[7]陶素云.陀螺仪原理及应用.哈尔滨:哈尔滨工业大学出版社,1985.
[8] DoroninVP,MezentsevAP,NeapolitanskyAS,etal.PrecisionMicromechanicalGyro:PathwaytoAdvance.In:Ion52ndAnnualMeeting,Cambridge,June19~21,1996;469-475
[9] HarrisAJ,BurdessJS,WoodD,etal.VibratingSilixonDiaphragmMicromechanicalGyroscope.ElectronicsLet ters,August31,1995;(31)18
[10] KENNYTW, WALTMANSB, REYNOLDSJK, et al. Micromachined silicon tunnel sensor for motion detection. Appl. Phys. Lett, 1991, 58(1):7.
[11]郝颖.微机械加速度计的测试与应用研究.哈尔滨工程大学,硕士论文.2002,1.
[12]郝颖.微机械加速度计的测试与应用研究.哈尔滨工程大学,硕士论文.2002,1.
[13]郭秀中等.微机械梳状驱动陀螺仪的理论分析,传感器技术,1997.16(3),23-26.
[14]陈家斌等,振动式微机械陀螺仪动力学分析,兵工学报,1997.18(2),178-181.
[15]杨叔子等.时间序列分析的工程应用(上册).武汉:华中理工大学出版社.1991.
[16]翁海娜,李滋刚,等.液浮陀螺漂移的试验建模研究.中国惯性技术学报,1999,7(2):30-34.
[17]武丽花,凌林本.三浮陀螺仪漂移模型的建立及MATLAB实现.中国惯性技术学报,2004,12(6):75-78.
[18] Mallat S.A theory for multiresolution signal decomposition:the wavelet representation[J].IEEE Pattern Anal.and Machine Intell.,1989,11(7).
[19] Broersen, P. M. T. de Waele, S. Costs of order selection in time series analysis.Instrumentation and Measurement Technology Conference. Proceedings of the 19th IEEE, Volume: 1, 21-23 May2002, Pages: 303-308.
[20]刘武发,蒋蓁,龚振邦.基于MEMS加速度传感器的双轴倾角计及其应用.传感器技术.2005,24(3):86-88.
[21]黄旭.微机械惯性器件/GPS/磁强计组合航向姿态确定研究.哈尔滨工业大学,博士论文. 2005,10.
[22] ZC-TD系列倾角模块使用说明书.上海直川公司.
[23]潘尚龙.GPS系统及其应用.太原城市职业技术学院学报.2007,72:146-147.
[24]曾元萍.GPS航姿系统研究.南京航空航天大学,硕士论文.2000,3.
[25]栾锡武,鲁银涛,徐涛.海洋地球物理测量中GPS数据问题与处理.地球物理学进展,2005,12(4):897-904.
[26]朱荣生,施小成.一种用于GPS数据处理中剔除野值的算法.中国惯性技术学报,2000,8(2):27-30.
[27] GARMIN GPS OEM产品说明书.北京合众思壮科技有限责任公司技术部.
[28]熊志昂,李红瑞,赖顺香.GPS技术与工程应用.北京:国防工业出版社,2005.
[29]王惟言.自助式GPS终端的实现与应用.微计算机信息,2006,22(5):268-270.
[30] ZCC-D-I-TTL两轴数字罗盘使用说明书.上海直川信息技术有限公司.
[31] Honeywell. HMR3000 Digital Compass Module User’s Guide[Z].1999.
[32]赵来定,徐江,周月臣.小型三轴数字罗盘测量误差分析.现代雷达,2004,26(11):53-55.
[33]蒋贤志.数字电子罗盘误差分析及校正技术研究.现代雷达,2005,27(6):39-41.
[34]杨新勇,黄圣国.磁罗盘的罗差分析与验证.电子科技大学学报,2004,33(5):547-550.
[35]秦永元.惯性导航.北京:科学出版社.2006.78-79.
[36]邓正隆编著.惯性导航原理.哈尔滨:哈尔滨工业大学出版社.1994. 118-135.
[37]郭圣权等.捷联惯性导航中一种算法的推证.华北工学院,2002,1.13-16.
[38]陈哲著.捷联惯性系统原理.北京:宇航出版社1986.124-235.
[39]崔中兴著.惯性导航系统.北京:国防工业出版社.1982.60-96.
[40] BORTZ J E. A new mathematical formulation for strapdown inertial navigation. IEEE Trans on Aerospace and Electronic System, 1971, 1(7):61-66.
[41] Miller R B,A new strapdown attitude algorithm . Journal of Guidance, Control,and Dynamics,1983.6( 4): 289-291.
[42] J.G. Lee, Y.J .Yoon, J.G. Mark. Extension of strap-down attitude algorithm for high frequency base motion. Journal of guidance , control, and dynamics.1990, 13(4):738-743.
[43]谢荣生.捷联惯导系统姿态解算的研究.哈尔滨工程大学,硕士论文.2000,1.
[44] MillerRB.Anewstrapdownattitudealgorithm.JournalofGuidance,Contr-ol,andDynamics,1983,6(4)
[45] LeeJG,YoonYJ,MarkJG.Extensionofstrapdownattitudealgorithmforhighfrequencybasemotion.JournalofGuidance,Control,andDynamics,1990,13(4):738-743.
[46] JiangYF,LinYP.Improvedstrapdownconingalgorithm.IEEETransactiononAerospaceandElectronic Systems,1992,28(2):484-490.
[47] R.E.KALMAN. A New Approach to Linear Filtering and Prediction Problems.Trans. ASME. Journal of Basic Eng, 1960, 82D:35-46.
[48]付梦印,邓志红,张继伟编著.Kalman滤波理论及其在导航系统中的应用.北京:北京科学出版社.2003.20-23.
[49] J.L. Marins,Xiaoping Yun,E.R. Bachmann,et al. An Extended Kalman Filter for Quaternion-Based Orientation Estimation Using MARG Sensors. Proceedings of the 2001 IEEE/RSJ.International Conference on Intelligent Robots and System. Maui,2001:2003-2011
[50] GAO Zhong-yu, NIU Xiao-ji, GUOMei-fen. Quaternion-Based Kalman Filter for Micro- machine Strapdown Attitude Heading Reference System. CHINESE JOURNAL OF AERONAUTICS. 2002, 15(3):171-175.
[51]程向红等.船用捷联航姿在系泊状态下的快速初始对准方法.船舶工程. 1997, 3:56-62.
[52] Demoz Gebre-Egziabher,Roger C.Hayward,J.David Powell. Design of Multi-Sensor Attitude Determination Systems. IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS.2004,40(2):627-649.
[53]施闻明,徐彬,陈利敏.捷联式航姿系统中四元素算法Kalman滤波器的实现研究.自动化技术与应用.2005, 24(11).6-8.
[54] Analog Devices Inc.±300°Ps single chip yaw rate gyro with signal conditioning ADXRS300. 29973351 ADXRS300-a, 2003.
[55]微型固态陀螺MEMS角速度传感器说明书.陕西航天长城科技有限公司.
[56] Analog Devices Inc. A Low Cost士2g/士10g Dual Axis Accelerometers with Digital Output. ADXL202-E, 2000.Jian Wang,Baigen Cai. A Low-cost Integrated GPS/INS Navigation System for the Land Vehicle.
[57]钱建立.8阶开关电容滤波器MAX29X系列的应用设计.新特元器件应用,1995,1:5-9.
[58] AD7862 Data SHeet. ANALOG DEVICES, 1999.
[59]张晶,曾宪云.闪速存储器AT29C040与单片机的接口设计.EDA技术专栏,2003,28(5):75-78.