【作者】 张大成；

【导师】 王常虹；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程， 2016， 硕士

【摘要】 在现代导航领域,GPS是当前应用最广的定位导航手段。但在一些特殊环境下,GPS信号容易受到干扰,有被阻断的风险,特别是在地下、水下、室内或高山峡谷等地区,GPS难以继续正常工作。在此背景下,利用其他信号源进行定位导航显得尤为重要。本文提出一种基于磁信标的定位定向方法,为卫星导航不可用的情况下的定位定向提供了可靠的解决方案。本文建立了基于毕奥—萨伐尔定理的磁偶极子定位定向模型,根据旋转磁场矢量不变特性,分别推导分析了基于单磁信标和基于双磁信标的定位定向方法,并对两种定位定向方法进行分析比较。设计了磁信标定位系统的软硬件系统,基于模块化思想实现了系统软件系统,并进行了试验验证。分析了影响磁信标定位精度的几种误差因素。建立了磁信标螺线管不正交的误差模型,仿真分析了不同误差角对磁场强度的影响;分析了目标位置与磁信标之间存在磁衰减介质时,对两种定位方法的定位精度的影响,并进行了仿真验证。在信号重构方面,提出了一种基于四参数的正弦信号重构方法,提高了正弦信号的辨识精度。最后,归纳总结了本文中提到的基于磁信标定位定向系统的优点与不足之处,并对未来需要继续完成的研究工作进行简单展望。更多还原

【Abstract】 In the field of modern navigation, GPS is currently the most widely used means of navigation and positioning. But in some special circumstances, the GPS signal is easily disturbed or blocked, especially in the underground, underwater, building,mountain, valley and other regions, GPS is hard to work normally. Under this background, it seems particularly important to use the other signal source for navigation and positioning. In this thesis, the author proposes a positioning and orienting method based on magnetic beacon, and provides a reliable solution for positioning when the satellite navigation is not available.The author establishes the model of magnetic dipoles for positioning and orientation by Biot-Savar law, and then analyses and compares two orienting and positioning methods based on single magnetic beacon and double magnetic beacons according to the characteristic that the vector stays the same in the rotating magnetic field.Both the software and the hardware system of magnetic beacon positioning system are designed and accomplished based on the idea of modularization. Systems are tested and verified. The author analyses some error factors that affect the positioning accuracy of magnetic beacon.The non-orthogonal magnetic beacon solenoid error model is established, and influences of different error angles on the intensity of magnetic field are discussed.The author also analyses influences of two positioning methods on the positioning accuracy when the magnetic damping medium exists between target location and magnetic beacon. A simulation verification is performed. As for the signal reconstruction, the author proposes a four-parameters sinusoidal signal reconstruction method which improves the identification precision of the sinusoidal signal.Finally, the author summarizes advantages and disadvantages of positioning and orientation system based on magnetic beacon that discussed in this thesis, and has a brief perspective for further studies.更多还原