【作者】 林琳；

【导师】 沈毅；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程， 2007， 硕士

【摘要】 本文对捷联惯导(SINS)与全球定位系统(GPS)的组合导航进行了研究。该系统是综合了SINS自主性和GPS高精度优点的现代导航系统,具有导航精度高、可靠性高、小型化等优点,是现代导航系统的发展方向之一。本文先对捷联惯导系统和全球定位系统做了理论上的分析,对捷联惯导建立了仿真模型,对捷联惯导的误差做了详细的分析。在此基础上研究了SINS与GPS的位置、速度的组合导航系统,应用卡尔曼滤波算法对其进行了仿真研究。SINS/GPS组合导航系统是一个复杂的系统,牵涉的内容很多,本文主要集中在捷联惯导和组合算法方面,主要工作包括:分析了捷联惯导系统的原理,讨论了捷联惯导系统的力学编排和误差分析。在原理分析的基础上,建立了轨迹模拟器、陀螺仪以及加速度计仿真器,并且利用Matlab搭建了捷联惯导仿真平台。对捷联惯导系统的误差特性进行了仿真。研究了SINS/GPS组合导航系统的组合模式以及组合导航系统建模分析,并在此基础上,建立了卡尔曼滤波的状态方程和测量方程,并对位置、速度组合卡尔曼滤波方式进行了仿真分析。对比发现SINS/GPS组合导航系统提高了导航精度,满足导航要求。针对集中式卡尔曼滤波计算量大和容错能力差的缺点,本文还研究了联邦卡尔曼滤波算法,通过仿真发现此算法在工程上具有良好的应用前景。最后根据实际的工程背景,初步探讨了SINS/GPS组合导航的应用与实现。更多还原

【Abstract】 This paper mainly studies the SINS/GPS integrated navigation system, which is of high precision, good reliability and small volume. It is a modern navigation system which integrates the independence of SINS and the high degree of accuracy. It is the one of the developing directions of modern navigation system. Firstly, this paper analyses SINS and GPS theory, the error of SINS and establishes SINS simulation model. The integrated navigation of position/velocity for SINS and GPS are studied. The integrated system is emulated by Kalman filter technique.SINS/GPS integrated navigation system is a complex system including lots of content. This paper focuses on the strap down inertial navigation and integrated algorithm. The content of this paper includes three aspects:Analyzed the theory of strap down inertial navigation, discussed its mechanical arrangement and error model analysis. Based on this theory analysis, the track simulator, gyro emulator and accelerator emulator are established. Then use Matlab to build a strap down integrated navigation flat, and the error characteristics of SINS were simulated.Based on the research of integrate models of SINS/GPS, the estate equation and the measure equation of centralized Kalman filter were established, the position-velocity integrate Kalman filter was simulated. Contrast with SINS, the SINS/GPS integrated navigation system enhance navigation precision and satisfy the navigation requiring.According to the disadvantages of centralized Kalman filter, in this paper, the federated filter was researched, from it could find that this filter have good future in the project.Finally, based on the real engineering project, this paper also treats the preliminary of the application and realization of SINS/GPS.更多还原