本文選題：衛(wèi)星導(dǎo)航 + 計(jì)算機(jī)信息處理��； 參考：《電子科技大學(xué)》2013年碩士論文

【摘要】：現(xiàn)代衛(wèi)星導(dǎo)航對(duì)導(dǎo)航系統(tǒng)的精度和可靠性提出了越來(lái)越高的要求，由于固有的缺點(diǎn)，衛(wèi)星導(dǎo)航系統(tǒng)無(wú)法單獨(dú)滿足多種指標(biāo)，而采用組合導(dǎo)航技術(shù)正好可以彌補(bǔ)這一缺陷。慣性導(dǎo)航系統(tǒng)（INS）和以全球定位系統(tǒng)(GPS)為代表的星基定位系統(tǒng)有著很強(qiáng)的互補(bǔ)性，這在眾多導(dǎo)航系統(tǒng)中，是一種優(yōu)秀的組合系統(tǒng)，也一直是組合導(dǎo)航技術(shù)研究領(lǐng)域中的熱點(diǎn)。同時(shí)數(shù)字信號(hào)處理器（DSP）提高了系統(tǒng)效率和速度，，專注于復(fù)雜的導(dǎo)航解算，基于微處理器的捷聯(lián)慣性導(dǎo)航(SINS)和全球定位系統(tǒng)(GPS)的組合導(dǎo)航系統(tǒng)的設(shè)計(jì)，成為目前研究的一個(gè)熱點(diǎn)。 論文研究基于DSP（digital signal processor，數(shù)字信號(hào)處理器）的某型衛(wèi)星導(dǎo)航計(jì)算機(jī)信息處理系統(tǒng)，設(shè)計(jì)硬件系統(tǒng)解決方案，從兩個(gè)子系統(tǒng)定位原理出發(fā)，建立了GPS/INS組合系統(tǒng)誤差模型基礎(chǔ)上，程序?qū)崿F(xiàn)GPS/INS位置速度組合，結(jié)果證實(shí)了算法的可行性。 論文在硬件方面，采用高精度AD轉(zhuǎn)換器件，同時(shí)完成整個(gè)外圍接口的邏輯關(guān)系，實(shí)現(xiàn)串口功能，設(shè)計(jì)硬件電路。在軟件方面，重點(diǎn)對(duì)系統(tǒng)采集的動(dòng)態(tài)GPS數(shù)據(jù)處理、INS/GPS松組合濾波進(jìn)行研究。1）圍繞GPS動(dòng)態(tài)定位及測(cè)速數(shù)學(xué)模型，針對(duì)GPS定位觀測(cè)值及誤差特性，給出了在動(dòng)態(tài)精密單點(diǎn)定位中各項(xiàng)誤差的處理策略，探討使用載波相位進(jìn)行精密定位中常見(jiàn)幾種數(shù)據(jù)預(yù)處理方法及程序?qū)崿F(xiàn)流程。2）對(duì)SINS/GPS組合方案，相關(guān)理論做了較為深入系統(tǒng)的分析討論。從卡爾曼濾波狀態(tài)方程入手，采用參數(shù)微分的方法分析和建立子系統(tǒng)的誤差模型，分析并優(yōu)化了IMU器件誤差模型，設(shè)計(jì)了15維卡爾曼濾波器�？柭鼮V波更新需要兩個(gè)子系統(tǒng)信息匹配，涉及到時(shí)空基準(zhǔn)問(wèn)題，則研究了SINS/GPS組合系統(tǒng)的時(shí)空基準(zhǔn)統(tǒng)一問(wèn)題。在此基礎(chǔ)上，研究了卡爾曼濾波算法，對(duì)連續(xù)線性動(dòng)態(tài)系統(tǒng)方程需要離散化，實(shí)際中才能進(jìn)行數(shù)值計(jì)算。研究了兩種校正方法，對(duì)于中低精度的IMU（Inertial Measurement Unit，慣性測(cè)量單元）設(shè)備，應(yīng)當(dāng)選用反饋校正。
[Abstract]:The accuracy and reliability of the navigation system are required more and more by modern satellite navigation. Because of the inherent shortcomings, the satellite navigation system can not meet a variety of indicators alone, and the integrated navigation technology can make up for this defect. Inertial navigation system (ins) and satellite positioning system (GPS) are highly complementary, which is an excellent integrated system in many navigation systems, and has always been a hot spot in the field of integrated navigation technology. At the same time, digital signal processor (DSP) improves the efficiency and speed of the system, and focuses on the complex navigation solution. The design of integrated navigation system based on microprocessor sins and GPS has become a hot topic. In this paper, a satellite navigation computer information processing system based on DSP(digital signal processor is studied. The hardware system solution is designed. Based on the positioning principle of two subsystems, the error model of GPS/INS integrated system is established. The program realizes the combination of GPS/INS position and velocity, and the result proves the feasibility of the algorithm. In the aspect of hardware, the high precision AD converter is adopted, the logic relation of the whole peripheral interface is completed, the function of serial port is realized, and the hardware circuit is designed. In the aspect of software, the dynamic GPS data processing (ins / P / GPS loosely integrated filter) collected by the system is studied. 1) around the dynamic positioning and velocity measurement mathematical model of GPS, the observed values and error characteristics of GPS positioning are analyzed. In this paper, the processing strategies of errors in dynamic precise single point positioning are given, and several common data preprocessing methods and program realization flow. 2) for SINS/GPS combination are discussed. The related theories are analyzed and discussed deeply and systematically. Starting with the Kalman filter equation of state, the error model of the subsystem is analyzed and established by using the method of parameter differentiation, the error model of IMU device is analyzed and optimized, and a 15-dimensional Kalman filter is designed. Kalman filter updating requires two subsystems to match information, which is related to the space-time reference problem, then the spatio-temporal reference unification problem of SINS/GPS composite system is studied. On this basis, the Kalman filtering algorithm is studied. The equations of continuous linear dynamic system need to be discretized before the numerical calculation can be carried out in practice. In this paper, two correction methods are studied. Feedback correction should be used for IMU(Inertial Measurement unit (inertial measurement unit) equipment with low accuracy.
【學(xué)位授予單位】：電子科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2013
【分類號(hào)】：P228.4

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