【作者】 单丹萍；

【导师】 赵琳；

【作者基本信息】 哈尔滨工程大学 ， 导航、制导与控制， 2007， 硕士

【摘要】 本论文详细介绍了基于COM组件的平台式惯性导航系统模拟器软件的设计和实现过程。该软件具有友好的人机交互界面，能够以图表和仪表的形式动态显示导航信息，以三维动画形式显示平台式惯性导航系统的三环稳定框架，并且在平台式惯导系统模型解算的基础上，提供了初始对准系数选择和惯性元件误差源设置功能。本文首先建立了平台式惯性导航系统解算的数学模型、初始对准系数选择的数学模型和惯导系统校正的数学模型，并在软件实现上，详细分析了COM和ATL的原理和关系，运用ATL技术将它们以类的形式封装在独立的COM组件中，由界面程序对其调用。在模拟器的界面程序设计中，描述了模拟器软件的开发流程和软件结构，在Visual C++6.0环境下对软件界面部分的具体实现，界面程序对COM组件的调用过程，并详细阐述了运用OpenGL技术对平台式惯性导航系统的三环稳定框架进行三维显示的开发过程，绘图控件和仪表控件的使用等。本文最后运用模拟器软件对平台式惯导系统进行了全面的仿真分析，在加深了对惯导系统理解的同时，验证了模拟器软件的正确性。更多还原

【Abstract】 This paper introduces the design and the realization process of the Platform Inertial Navigation System (PINS) simulator which is based on COM. The software has a friendly human-computer interaction interface that could display the navigation information in the form of charts and meters, the three-loop stable frame in the way of three-dimensional animation. The coefficient choice of initial alignment and the error resolve of inertial elements are afforded on the base of the resolve of PINS model.The mathematics models of the PINS, the initial alignment and the calibration for the INS are set up firstly in the paper. The theory and relationship between COM and ATL are analyzed in detail on the aspect of software realization, and the ATL technology is used to encapsulate the models to the COM component in the way of class, which will be transferred by the interface program.The development flow and the software structure of the simulator are described in the interface program design.The specific realization of the interface program under the environment of Visual C++6.0, the transfer of the COM component by the interface program, the three-dimensional animation of three-loop stable frame by OpenGL technology and the controls of the chart and the meter are all represent in the paper.At the end of the paper, the PINS is emulated and analyzed in full-scale by the simulator, which helps to comprehend the PINS and validated the correctness of the simulator.更多还原