發(fā)布時(shí)間：2018-03-13 18:18

  本文選題：全球定位系統(tǒng)　切入點(diǎn)：慣性導(dǎo)航系統(tǒng)　出處：《長(zhǎng)江大學(xué)》2013年碩士論文　論文類(lèi)型：學(xué)位論文

【摘要】：20世紀(jì)中期,導(dǎo)航技術(shù)開(kāi)始被應(yīng)用在戰(zhàn)場(chǎng)上,經(jīng)過(guò)近半個(gè)世紀(jì)的發(fā)展,導(dǎo)航技術(shù)已經(jīng)發(fā)展成為可以代表國(guó)家綜合實(shí)力的一門(mén)學(xué)科。導(dǎo)航技術(shù)涉及到許多前沿學(xué)科,如航天技術(shù)、計(jì)算機(jī)技術(shù)、自動(dòng)控制技術(shù)、通信技術(shù)和地理信息技術(shù)等,是實(shí)現(xiàn)飛行器特別是航天器飛行任務(wù)的關(guān)鍵技術(shù),是武器精確制導(dǎo)的核心技術(shù),也是現(xiàn)代化戰(zhàn)爭(zhēng)中,一個(gè)國(guó)家的軍事戰(zhàn)斗力和國(guó)防能力的體現(xiàn)。 組合導(dǎo)航系統(tǒng)是在導(dǎo)航技術(shù)的基礎(chǔ)上發(fā)展而來(lái)的,大多數(shù)組合導(dǎo)航系統(tǒng)以慣導(dǎo)系統(tǒng)為主,結(jié)合其他的導(dǎo)航技術(shù)如GPS。其原因主要是由于慣性導(dǎo)航能夠提供比較多的導(dǎo)航參數(shù)。還能夠提供全姿態(tài)信息參數(shù),這是其他導(dǎo)航系統(tǒng)所不能比擬的。此外,它不受外界干擾,隱蔽性好,這也是其獨(dú)特的優(yōu)點(diǎn)。慣導(dǎo)系統(tǒng)定位誤差隨時(shí)間積累的不足可以由其他導(dǎo)航系統(tǒng)補(bǔ)充。GPS可以實(shí)現(xiàn)全球范圍內(nèi)全天候的定位需求,但GPS信號(hào)容易被遮擋、干擾甚至失去定位功能,INS可以在GPS信號(hào)缺失的情況下提供導(dǎo)航功能。本文所研究的組合導(dǎo)航技術(shù)是全球定位系統(tǒng)(GPS)和慣性導(dǎo)航系統(tǒng)(INS)的組合導(dǎo)航系統(tǒng)。 本文針對(duì)GPS/INS組合導(dǎo)航系統(tǒng)主要應(yīng)用到的學(xué)科原理做了一定量的分析,如GIS原理、INS原理、GPS原理和信息融合技術(shù)原理等。GPS/INS組合導(dǎo)航系統(tǒng)有效地利用卡爾曼濾波技術(shù)將GPS和INS的定位數(shù)據(jù)融合,利用各自優(yōu)點(diǎn)來(lái)進(jìn)行系統(tǒng)間的取長(zhǎng)補(bǔ)短,減小系統(tǒng)誤差,提高組合導(dǎo)航系統(tǒng)的性能,優(yōu)于GPS和INS中任一系統(tǒng)。設(shè)計(jì)了一種耦合方式,使INS的測(cè)量輸出可以提高GPS的跟蹤性能,而INS的位置估計(jì)可以在GPS信號(hào)中斷后對(duì)其進(jìn)行更快的重新捕獲。同時(shí),GPS還可以對(duì)INS的慣性測(cè)量單元進(jìn)行實(shí)時(shí)地校準(zhǔn),改善GPS信號(hào)中斷過(guò)程中的測(cè)量值的漂移。進(jìn)行了大量的跑車(chē)試驗(yàn),證明這種耦合方法有效的提高了組合導(dǎo)航系統(tǒng)的性能。 針對(duì)組合導(dǎo)航控制器設(shè)計(jì)并完成了上位機(jī)調(diào)試軟件,導(dǎo)航控制板的定位信息通過(guò)串口傳輸?shù)接?jì)算機(jī),進(jìn)行進(jìn)一步的分析和研究,有利于對(duì)導(dǎo)航控制器作出反饋進(jìn)而改進(jìn)設(shè)計(jì)。組合導(dǎo)航系統(tǒng)設(shè)計(jì)完成后要投入應(yīng)用,針對(duì)這一問(wèn)題,設(shè)計(jì)了基于GIS緩沖區(qū)分析的地圖匹配算法,提高了組合導(dǎo)航系統(tǒng)精度,為社會(huì)創(chuàng)造經(jīng)濟(jì)效益。
[Abstract]:In the middle of 20th century, navigation technology began to be applied to the battlefield. After nearly half a century of development, navigation technology has developed into a subject that can represent the comprehensive strength of a country. Navigation technology involves many cutting-edge disciplines, such as space technology. Computer technology, automatic control technology, communication technology and geographic information technology are the key technologies to realize flight missions of aircraft, especially spacecraft, and are the core technology of precision guidance of weapons, and also in modern warfare. The embodiment of a country's military combat effectiveness and national defense capability. Integrated navigation systems are developed on the basis of navigation technology. Most integrated navigation systems are based on inertial navigation systems. Combined with other navigation technologies such as GPS. the main reason is that inertial navigation can provide more navigation parameters, and can also provide full attitude information parameters, which other navigation systems can not compare. In addition, it is not disturbed by the outside world. Good concealment is also a unique advantage of inertial navigation system positioning error accumulation over time can be supplemented by other navigation systems. GPS can meet the global positioning requirements, but the GPS signal is easy to be blocked. The integrated navigation technology studied in this paper is the integrated navigation system of GPS (Global Positioning system) and ins (inertial Navigation system). In this paper, the principle of GPS/INS integrated navigation system is analyzed. The GPS / ins integrated navigation system effectively uses Kalman filter technology to fuse the positioning data of GPS and INS, and makes use of their respective advantages to complement each other and reduce the system error, such as GIS principle and ins principle and information fusion technology principle, and so on, the GPS / ins integrated navigation system effectively uses the Kalman filter technology to fuse the positioning data of GPS and INS, and makes use of their respective advantages to make up for each other's shortcomings. The performance of integrated navigation system is better than that of any system in GPS and INS. A coupling method is designed so that the measurement output of INS can improve the tracking performance of GPS. The position estimation of INS can recapture GPS signal more quickly after it is interrupted. At the same time, it can calibrate the inertial measurement unit of INS in real time. In order to improve the drift of the measured values in the process of GPS signal interruption, a large number of sports car tests have been carried out, which show that this coupling method can effectively improve the performance of the integrated navigation system. Aiming at the integrated navigation controller, the debugging software of the upper computer is designed and completed. The positioning information of the navigation control board is transmitted to the computer through the serial port, and the further analysis and research are carried out. The integrated navigation system should be put into use after the design of the integrated navigation system is finished. In order to solve this problem, a map matching algorithm based on GIS buffer analysis is designed to improve the precision of the integrated navigation system. Create economic benefits for society.
【學(xué)位授予單位】：長(zhǎng)江大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2013
【分類(lèi)號(hào)】：TN96.2;P208

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