小型捷联惯性导航系统研究

【作者】 杨敏；

【导师】 何清华；

【作者基本信息】 中南大学 ， 机械电子工程， 2010， 硕士

【摘要】 捷联惯性导航系统因为其自身不需要外部信息,自主性强,体积小,结构简单,能耗低等优点和性能特点,受到越来越多的关注,逐步在军事、民用、科研等领域得到广泛应用。本文结合湖南省科技计划重大专项及企业科研攻关项目从理论上对捷联惯性导航系统进行了系统的研究；并利用MATLAB/GUI工具箱编写了捷联惯性导航系统仿真软件,为系统设计及实现提供理论指导。论文主要工作如下：论文对国内外捷联惯性导航系统研究的发展现状及趋势进行综述；对目前主要的捷联惯性导航系统解算方法进行介绍并对捷联惯性导航系统的基本原理进行分析。依托四元数理论,建立捷联惯性导航系统的数学模型,并通过MATLAB/GUI工具箱编写捷联惯性导航仿真系统软件,用户通过GUI界面设置初始导航参数,经过软件计算得到相应的导航参数及误差曲线,分析验证系统数学模型建立的正确与否。为满足系统对小型化、高精度和实时性等要求,以数字信号处理器(DSP)为核心,设计捷联惯性导航系统的软硬件系统并搭建了捷联惯性导航平台。为验证本文所研究设计的捷联惯性导航系统的可行性,利用VB编写信号采集及显示系统,以单片机为处理器进行惯性传感器标定实验,并在捷联惯性导航平台上进行静止状态和运动状态下的导航测试。本文对捷联惯性导航系统的研究得到了实验的验证,对系统产业化的研究具有指导意义。更多还原

【Abstract】 Strapdown inertial navigation system(SINS) does not need external information and has highly autonomous character. And, SINS has the advantage of simple structure, small volume and reliability. Because of its specific advantages and outstanding performance characteristics, strapdown inertial navigation system is getting more and more attention and being used in military affairs, civil affairs and scientific research gradually. In this paper, the SINS is analyzed and researched in theoretical, combined with the key projects of Hunan province science and technology plan and enterprise’s key scientific research program. MATLAB/GUI toolbox has been used to compile the strapdown inertial navigation system’s analysis software. It has provided theoretical guidance for the designers to design and realize the SINS. This paper’s main work is as follows:The research development status and tendency of national and international strapdown inertial navigation system have been summarized. The main navigation algorithm of strapdown inertial navigation system has been introduced, and the basic principles of strapdown inertial navigation system has been revealed.The mathematical model of strapdown inertial navigation system has been established,which is based on quaternion theory. Meanwhile, the strapdown inertial navigation system’s analysis software has been compiled by using the MATLAB/GUI toolbox, and then users could get navigation parameters and error curves by using GUI interface to input Parameters of the initial navigation and do some calculations through analysis software. Through these, the correctness of mathematical model of strapdown inertial navigation system has been analysed and tested.The strapdown inertial navigation system hardware and software system has been designed and the strapdown inertial navigation platform has been built based on DSP, in order to content the system requirements of miniaturization, high precision and real-time.Signal Acquisition and Display System has been compiled by VB, and the calibration of inertial sensors has been experimented by using single-chip microcomputer processor, and the strapdown inertial navigation system has been experimented on the static state and state of motion in the strapdown inertial navigation platform which in order to verify the feasibility of the strapdown inertial navigation system which has been designed in this paper.In this paper, strapdown inertial navigation system has been experimentally verified successfully. Researching on strapdown inertial navigation system, which is of great value and significance for industrialization.更多还原