高精度组合导航系统的算法研究和实验

摘要捷联惯性导航系统(Strapdown Inertial Navigation System,SINS)具有短时精度高的特点，但其误差随时间积累；全球定位导航系统(Global Positioning System,GPS)能保证有高精度的测量值，但易受外部环境干扰。单一的导航系统不能满足精度要求，SINS/GPS成为更受欢迎的组合导航方式。本文首先介绍了SINS和GPS的基本工作原理，包括其导航方程、误差分析等；其次重点讨论了姿态更新算法中的圆锥误差，给出了一种补偿算法，仿真验证了等效旋转矢量N子样算法可减小SINS的不可交换性漂移；然后建立了组合导航系统的数学模型，讨论卡尔曼滤波对系统性能的改变，并研究了参数变化对卡尔曼滤波效果的影响，选取合适的滤波参数；最后利用车载实验的数据，将前文给出的算法进行仿真实验，实验表明能有效提高系统精度。33974
关键词 SINS/GPS组合导航系统误差分析补偿算法系统建模卡尔曼滤波
毕业论文设计说明书外文摘要
Title Algorithms and Experiments of High-accuracy Integrated Navigation System
Abstract
Strapdown Inertial Navigation System has high accuracy in short time, it enables autonomous navigation, but the error is accumulated over time, so it cannot work for long time; Global Positioning System ensures high-precision measurement, but easy to be interfered by external environmental. Single navigation system cannot meet the accuracy requirements , SINS/GPS integrated navigation system becomes popular. This paper firstly introduces basic principles of SINS and GPS, including its navigation equations, error analysis. Secondly, it focuses on the coning error in attitude updating algorithm and compensating methods of these errors，simulation proves that the rotation vector N sub-sample algorithm can actually reduce noncommutativity drift. Then, the combination model of two navigation systems is discussed , Kalman filter is applied to improve the system quality. The influence of parameters on the Kalman filtering effect is researched to select the appropriate filter parameters. Finally, experiments show that the algorithm can improve system accuracy.
Keywords SINS/GPS Integrated Navigation System Error Analysis Compensating Methods System Modeling Kalman filter
目   次
1 绪论    1
1.1 研究背景及意义    1
1.2 国内外研究现状    1
1.3 本文主要研究内容    3
2 导航系统原理    4
2.1 捷联惯导基本原理    4
2.2 GPS基本原理    8
2.3 本章小结    10
3 捷联惯导的姿态更新算法    11
3.1 四元数法    11
3.2 等效旋转矢量算法    11
3.3 圆锥误差及补偿算法    12
3.4 本章小结    15
4 SINS/GPS组合导航系统研究    16
4.1 SINS/GPS组合导航系统建模    16
4.2 卡尔曼滤波    18
4.3 参数变化对卡尔曼滤波的影响    22
4.4 本章小结    25
5 车载实验    26
5.1 实验内容    26
5.2 本章小结    28
结论    29
致谢    30
参考文献31
1 绪论
1.1 研究背景及意义高精度组合导航系统的算法研究和实验:http://www.751com.cn/zidonghua/lunwen_31312.html