本文選題：MIMU/WSS/MAG組合導(dǎo)航系統(tǒng) + 初始對準(zhǔn)　； 參考：《山東大學(xué)》2017年碩士論文

【摘要】：當(dāng)使用低成本微慣性測量單元(MEMS IMU)作為慣導(dǎo)系統(tǒng)的慣性測量元件時,受到慣性傳感器精度限制(主要表現(xiàn)為陀螺和加速度計的漂移和噪聲),純慣導(dǎo)系統(tǒng)無法獨立完成導(dǎo)航定位,將其與其他導(dǎo)航方式結(jié)合成為了陸用車載導(dǎo)航的主要研究方向。同時,傳感器信息融合技術(shù)的發(fā)展也使得高度組合的車載自主導(dǎo)航系統(tǒng)的實現(xiàn)成為可能。本文以車載組合導(dǎo)航系統(tǒng)為應(yīng)用背景,重點研究了低成本MIMU/WSS/MAG組合系統(tǒng)的關(guān)鍵技術(shù),主要研究內(nèi)容包括:1.推導(dǎo)了捷聯(lián)慣導(dǎo)系統(tǒng)(Strapdown Inertial Navigation System,SINS)姿態(tài)、速度和位置更新算法,其中姿態(tài)更新采用四元數(shù)更新并在載體坐標(biāo)系更新過程中考慮到圓錐運動誤差,在速度更新過程中考慮劃船誤差補償。推導(dǎo)了捷聯(lián)慣導(dǎo)系統(tǒng)誤差狀態(tài)簡化模型,以便用于低成本組合導(dǎo)航系統(tǒng)設(shè)計。最后通過MIMU在靜態(tài)情況下的測量值,進(jìn)行純慣導(dǎo)解算,導(dǎo)航結(jié)果表明當(dāng)使用MIMU作為慣性測量元件時,純慣導(dǎo)系統(tǒng)的在前1Os內(nèi)有很好的精度,但之后的姿態(tài)、速度和位置誤差會快速增大,說明設(shè)計組合導(dǎo)航系統(tǒng)的必要性。2.為了解決組合導(dǎo)航系統(tǒng)的初始對準(zhǔn)問題,本文研究了磁強計(MAG)輔助的初始對準(zhǔn)算法。首先針對復(fù)雜的車載環(huán)境,通過分析磁強計所受到的軟磁和硬磁干擾,采用橢球擬合來補償磁強計受到的羅差干擾。通過對比補償前后磁強計輸出的磁場模值,補償測得的磁場模值接近1,證明很好地補償了磁強計的羅差。然后利用加速度計和磁強計實現(xiàn)了粗對準(zhǔn),為精對準(zhǔn)提供了較為精確的初始姿態(tài)角,而且大大地縮短了粗對準(zhǔn)的時間。最后,設(shè)計了靜基座下基于卡爾曼濾波理論的初始精對準(zhǔn)算法。靜基座下的初始對準(zhǔn)實驗表明本文提出的初始對準(zhǔn)算法能夠在很短的時間內(nèi)收斂,對準(zhǔn)精度滿足慣導(dǎo)的要求。3.設(shè)計并且實現(xiàn)了 MIMU/WSS/MAG車載組合導(dǎo)航系統(tǒng)。由于聯(lián)邦卡爾曼濾波器相對于集中式卡爾曼濾波具有計算量少、便于對導(dǎo)航子系統(tǒng)作故障檢測、診斷和隔離等優(yōu)點,本文詳細(xì)描述了聯(lián)邦卡爾曼濾波器的設(shè)計過程。在仔細(xì)分析子導(dǎo)航系統(tǒng)組合模式后,分別設(shè)計了 SINS/WSS和SINS/MAG子系統(tǒng),建立各子系統(tǒng)的狀態(tài)方程和觀測方程,然后根據(jù)聯(lián)邦卡爾曼濾波的自適應(yīng)信息分配原則將兩個子系統(tǒng)進(jìn)行了融合,完成了自適應(yīng)聯(lián)邦卡爾曼濾波器的設(shè)計。最后設(shè)計了實車實驗,通過對比聯(lián)邦卡爾曼濾波和集中式卡爾曼濾波的導(dǎo)航結(jié)果,驗證了聯(lián)邦卡爾曼濾波在導(dǎo)航精度和故障隔離及恢復(fù)的優(yōu)勢。論文對低成本MIMU/WSS/MAG車載組合導(dǎo)航系統(tǒng)進(jìn)行了較為系統(tǒng)的研究,為低成本車載組合導(dǎo)航提供了一種可行的組合方案,為進(jìn)一步實現(xiàn)低成本高度融合的車載組合導(dǎo)航系統(tǒng)奠定了基礎(chǔ)。
[Abstract]:When MEMS IMU is used as the inertial measurement element of inertial navigation system, it is limited by the precision of inertial sensor (mainly the drift and noise of gyroscope and accelerometer, so the pure inertial navigation system can not complete navigation and positioning independently. Combining it with other navigation methods has become the main research direction of vehicle-borne navigation. At the same time, the development of sensor information fusion technology also makes it possible to realize the highly integrated vehicle autonomous navigation system. In this paper, the key technology of low cost MIMU/WSS/MAG integrated system is studied in the background of vehicle integrated navigation system. The main research contents include: 1. An algorithm for updating attitude, velocity and position of Strapdown Inertial Navigation system sins is derived, in which quaternion updating is used in attitude updating and conical motion error is taken into account in the updating process of carrier coordinate system. In the process of speed updating, the compensation of rowing error is considered. The simplified error state model of strapdown inertial navigation system is derived for low cost integrated navigation system design. Finally, through the measurement value of MIMU in static condition, the pure inertial navigation solution is carried out. The navigation results show that when MIMU is used as the inertial measurement element, the pure inertial navigation system has a good precision in the pre-1Os, but the attitude of the pure inertial navigation system after that. Speed and position errors will increase rapidly, indicating the need to design integrated navigation system. 2. In order to solve the problem of initial alignment of integrated navigation system, the magnetometer aided initial alignment algorithm is studied in this paper. Firstly, aiming at the complex vehicle environment, by analyzing the soft magnetic and hard magnetic interference of the magnetometer, the ellipsoid fitting is used to compensate the difference interference of the magnetometer. By comparing the magnetic field mode values of the magnetometer before and after the compensation, the measured magnetic field mode value is close to 1, which proves that the error of the magnetometer is well compensated. Then the coarse alignment is realized by using accelerometers and magnetometers, which provides a more accurate initial attitude angle for fine alignment, and greatly shortens the time of coarse alignment. Finally, the initial fine alignment algorithm based on Kalman filter theory is designed under the static base. The initial alignment experiments under the static base show that the proposed initial alignment algorithm can converge in a very short time and the alignment accuracy can meet the requirements of inertial navigation. MIMU/WSS/MAG vehicle integrated navigation system is designed and implemented. Because the federated Kalman filter has the advantages of less computation than centralized Kalman filter, it is convenient to detect, diagnose and isolate the navigation subsystem, the design process of the federated Kalman filter is described in detail in this paper. After carefully analyzing the integrated mode of subnavigation system, the SINS/WSS and SINS/MAG subsystems are designed, and the state equations and observation equations of each subsystem are established. Then the two subsystems are fused according to the adaptive information allocation principle of federated Kalman filter and the design of adaptive federated Kalman filter is completed. Finally, a real vehicle experiment is designed, and by comparing the navigation results of federal Kalman filter and centralized Kalman filter, the advantages of federated Kalman filter in navigation accuracy, fault isolation and recovery are verified. In this paper, the low cost MIMU/WSS/MAG vehicle integrated navigation system is systematically studied, which provides a feasible integrated scheme for low cost vehicle integrated navigation system, and lays a foundation for the further realization of low cost and high integration vehicle integrated navigation system.
【學(xué)位授予單位】：山東大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：U463.675

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