本文選題：天空偏振光 + 車輛動態(tài)數(shù)學(xué)模型��； 參考：《南昌大學(xué)》2015年碩士論文

【摘要】：針對有源導(dǎo)航電波受干擾失效的特殊戰(zhàn)爭環(huán)境下陸地作戰(zhàn)車輛無源自主導(dǎo)航問題,自主式導(dǎo)航定位技術(shù)是保證載體在特殊環(huán)境下能夠進(jìn)行可靠的自主、無源、高精度導(dǎo)航和定位的關(guān)鍵。本文針對該技術(shù)問題參考國內(nèi)外研究成果和經(jīng)驗,采用車載捷聯(lián)慣導(dǎo)系統(tǒng)作為基本導(dǎo)航傳感器,借助于其他外部信息補(bǔ)償修正技術(shù),應(yīng)用多源信息融合處理方法來提高改善自主導(dǎo)航定位系統(tǒng)的性能,展開了以下一系列研究工作。首先,對大氣偏振光特性及其相關(guān)的仿生偏振光導(dǎo)航技術(shù)、車輛運(yùn)動學(xué)模型和非完整約束條件等技術(shù)進(jìn)行了分析研究�？紤]對載體航向測量和控制至關(guān)重要的陸地車輛自主無源導(dǎo)航應(yīng)用需求,利用大氣偏振模式所蘊(yùn)含的方位特性,結(jié)合運(yùn)動車輛的導(dǎo)航傳感器配置準(zhǔn)則,構(gòu)建了車輛仿生偏振光導(dǎo)航定向方法�？紤]低成本精度高、集成度好、抗干擾能力強(qiáng)的車載導(dǎo)航技術(shù)研制需求,研究構(gòu)建了一種采用車載捷聯(lián)慣導(dǎo)系統(tǒng)作為基本導(dǎo)航傳感器,不增加額外絕對傳感器,僅應(yīng)用車輛運(yùn)動學(xué)模型和非完整約束條件共同來輔助慣導(dǎo)系統(tǒng)的有效方案。對研究的方法和方案分別進(jìn)行了系統(tǒng)性能仿真測試驗證,并給出了詳細(xì)的結(jié)果數(shù)據(jù)分析。其次,為了提高目前車載捷聯(lián)慣導(dǎo)系統(tǒng)車輛運(yùn)動學(xué)模型輔助算法的導(dǎo)航定位精度,并保證系統(tǒng)的無源性和抗干擾自主導(dǎo)航的能力,基于研究構(gòu)建的車輛偏振光導(dǎo)航測角定向方法,利用其輸出得到車輛的航向信息,結(jié)合車輛自身的動態(tài)數(shù)學(xué)模型提供的虛擬位置與速度觀測量,與車載捷聯(lián)慣性導(dǎo)航系統(tǒng)所獲得的導(dǎo)航信息一起,通過設(shè)計多源信息融合算法,對其進(jìn)行有效合理的配置,利用數(shù)學(xué)方法對其系統(tǒng)方程進(jìn)行建模。最后,結(jié)合組合系統(tǒng)導(dǎo)航模型,根據(jù)車載應(yīng)用環(huán)境的特性,制定系統(tǒng)的總體仿真測試框架,包括車輛軌跡建模、仿真環(huán)境搭建、對比仿真及仿真結(jié)果數(shù)據(jù)分析。根據(jù)仿真測試結(jié)果分析,驗證設(shè)計的仿真平臺結(jié)構(gòu)配置的合理性,并據(jù)此對信息融合等實施方案進(jìn)行優(yōu)化�？傮w上,構(gòu)建了一種具有強(qiáng)自主性、隱蔽性好、抗干擾的無源導(dǎo)航系統(tǒng),可實現(xiàn)陸地車輛精確可靠的自主導(dǎo)航定位。
[Abstract]:In order to solve the problem of passive autonomous navigation of land combat vehicles in the special war environment where the active navigation wave is disturbed, autonomous navigation and positioning technology is to ensure that the carrier can carry out reliable autonomous and passive navigation under special environment. The key to high precision navigation and positioning. In this paper, referring to the domestic and international research results and experience, this paper uses the vehicle Strapdown Inertial Navigation system as the basic navigation sensor, with the help of other external information compensation and correction technology. Multi-source information fusion is used to improve the performance of autonomous navigation and positioning system. Firstly, the characteristics of atmospheric polarized light and its related bionic polarized light navigation technology, vehicle kinematics model and nonholonomic constraints are analyzed and studied. Taking into account the requirements of autonomous passive navigation applications of land vehicles, which are crucial to vehicle heading measurement and control, and taking advantage of the azimuth characteristics contained in the atmospheric polarization mode, combined with the navigation sensor configuration criteria of moving vehicles, The vehicle bionic polarized light navigation method is constructed. Considering the requirements of the development of vehicle navigation technology with high cost, high integration and strong anti-jamming ability, a vehicle strapdown inertial navigation system is studied and constructed without adding additional absolute sensors. Only the vehicle kinematics model and nonholonomic constraints are used to assist the ins. The methods and schemes are tested and verified by simulation, and the results are analyzed in detail. Secondly, in order to improve the navigation accuracy of the vehicle kinematics model assistant algorithm of vehicle strapdown navigation system, and ensure the passive and anti-jamming autonomous navigation ability of the system, Based on the research and construction of vehicle polarized light navigation angle-orientation method, the vehicle heading information is obtained by using its output, combined with the virtual position and velocity observation provided by the vehicle's own dynamic mathematical model. Along with the navigation information obtained from the vehicle strapdown inertial navigation system, the multi-source information fusion algorithm is designed, which is effectively and reasonably configured, and the system equation is modeled by mathematical method. Finally, combined with the integrated system navigation model, according to the characteristics of vehicle application environment, the overall simulation and testing framework of the system is developed, including vehicle trajectory modeling, simulation environment building, contrast simulation and simulation results data analysis. According to the analysis of the simulation test results, the rationality of the structure configuration of the designed simulation platform is verified, and the information fusion scheme is optimized accordingly. In general, a passive navigation system with strong autonomy, good concealment and anti-interference is constructed, which can realize accurate and reliable autonomous navigation and positioning of land vehicles.
【學(xué)位授予單位】：南昌大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2015
【分類號】：U463.67;U495

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本文編號：1802032