【作者】 张泽；

【导师】 陈希军；

【作者基本信息】 哈尔滨工业大学 ， 控制理论与控制工程， 2007， 硕士

【摘要】 SINS/CNS组合导航是以捷联惯性导航为主,辅以恒星提供的星光方位信息(天文学可以给出恒星的方位),综合利用捷联惯性导航和星光信息来提高飞行器的导航精度。捷联惯性导航系统具有高的数据更新率,但是由于陀螺漂移,使惯导系统误差累积,失调角随着时间增长而增加。而天文导航虽然数据更新率较低,但其误差并不随着时间而增加。因此本文将两种导航系统组合起来,利用恒星作为固定参考点信息源,利用星敏感器观测恒星的方位来校正惯性基准随时间而增加的漂移,将两者相互取长补短,充分发挥各自的优势,组成性能优良的组合导航系统。本文针对捷联惯性导航的不足,进行了SINS/CNS组合导航系统的研究,主要做了以下几方面的工作:1.研究了姿态解算中需要的坐标系理论和四元数理论。分析了四元数坐标变换公式,为其在姿态解算中的应用提供了理论依据。2.在分析捷联式惯性导航系统作用原理的基础上,对其误差传播特性进行了分析。3.在分析天文导航基本原理的基础上,研究了基于恒星敏感器的天文导航系统。4.从理论上推导了TRIAD、q-方法、QUEST等三种基于星敏感器矢量观测的姿态确定算法。并以Wahba损失函数为指标,利用已确定已知的方向余弦阵和恒星矢量及在噪声干扰下的星敏感器的观测矢量,通过仿真计算对比研究了几种算法。5.研究了捷联惯性导航/天文导航的原理和方法及其组合模式,并应用卡尔曼滤波理论对组合导航系统的误差状态进行了分析。推导了一种新的量测方程,编写了卡尔曼滤波程序对其进行了滤波分析,证明该组合模式有较好的抑制惯性器件漂移的效果。更多还原

【Abstract】 The SINS/CNS integrated navigation system gives priority to the strap-down inertial navigation system which complemented by the stellar stars azimuth information. The integrated system utilizes the information of the SINS and of the stars to improve aircraft navigation accuracy .The SINS can update the navigation parameter with a high speed but it also has the accumulated error due to the existence of the gyro drift error, in this case, the maladjustment angle increases with time . The other way round ,the CNS can not update the navigation parameter with a high speed but it has no accumulated error .So ,the two navigation system will be integrated .It uses the stars as a fixed reference point sources of information ,and use the star vector to observe the sensitive position of the fixed stars to correct the increasing drift error with time of the strap-down navigation system .The two navigation system give full play to their respective advantages ,and finally compose a integrated navigation system with eximious performance.This paper makes the research of the SINS / CNS Integrated Navigation System according to the SINS deficiencies, mainly on the following aspects:Firstly, this paper does the research on quaternion theory and coordinate system theory of the attitude solution, and deduces the quaternion coordinate transformation formula and build the basis for the attitude solutions. It also analyses the strap-down inertial navigation system role principle and its error propagation. And this paper also analyses the celestial navigation in the basic tenets and makes the research of the astronomical navigation system.Next, this paper deduces the TRIAD、q-method and QUEST-method theoretically, which are based on the observation vector algorithm of the star sensor for determining the attitude. And also compares these methods above with the indicators of the Wahba loss function by the simulation under the fixed direction cosine matrix、Stellar Vector and observation of Vector with Noise.Finally, this paper studies SINS / CNS principles and their compounding models. This paper also analyses the integrated navigation system error state using kalman filtering and deduces a new measurement equation. At the end of the paper ,gives the simulation curves .更多还原