本文關(guān)鍵詞： GPS仿真器 全球定位系統(tǒng) 無人機(jī) NMEA-0183　出處：《沈陽(yáng)航空航天大學(xué)》2016年碩士論文　論文類型：學(xué)位論文

【摘要】：近年來,無人機(jī)在軍用和民事領(lǐng)域得到了快速發(fā)展和廣泛應(yīng)用,各國(guó)對(duì)無人機(jī)未來市場(chǎng)愈來愈加重視。在無人機(jī)的開發(fā)研制過程中,無人機(jī)的導(dǎo)航控制系統(tǒng)的半實(shí)物仿真已經(jīng)成為研發(fā)過程中不可或缺的一個(gè)重要階段。在飛行控制系統(tǒng)的仿真中,如何模擬無人機(jī)在空中的位置信息是整個(gè)系統(tǒng)中必須要解決的一個(gè)重要問題。因此,本文為解決這一問題設(shè)計(jì)了GPS仿真器。本文利用現(xiàn)代計(jì)算機(jī)仿真技術(shù),使用實(shí)時(shí)仿真機(jī)加載動(dòng)力學(xué)模型來模擬無人機(jī)的真實(shí)飛行,然后深入研究了GPS全球定位系統(tǒng)的原理以及機(jī)載GPS接收機(jī)的輸出數(shù)據(jù)格式的特點(diǎn),提出了GPS仿真器系統(tǒng)的組成框架,并詳細(xì)闡述了框架中各個(gè)模塊的功能。仿真器的開發(fā)設(shè)計(jì)分為三個(gè)部分,分別是航跡生成部分,數(shù)據(jù)處理部分和通信接口部分。其中航跡生成部分使用了德國(guó)dSPACE ds1103實(shí)時(shí)仿真機(jī)作為無人機(jī)被控對(duì)象,完成了無人機(jī)動(dòng)力學(xué)模型建模到實(shí)時(shí)代碼生成的全部過程。仿真定位部分在解析了RINEX原始星歷參考數(shù)據(jù)后,使用Matlab/Simulink建立GPS星座運(yùn)動(dòng)模型并進(jìn)行實(shí)時(shí)解算在軌星座位置,并根據(jù)航跡生成模塊解算出的無人機(jī)位置進(jìn)行可見星判斷,最佳可見星選擇等相關(guān)參數(shù)的計(jì)算。通信接口部分完成了基于S-Function的串口通信程序設(shè)計(jì),并且按照GPGGA和GPRMC協(xié)議語(yǔ)句將數(shù)據(jù)處理部分計(jì)算得到的相關(guān)參數(shù)進(jìn)行封裝,然后通過RS232串口發(fā)送給導(dǎo)航控制系統(tǒng)。
[Abstract]:In recent years, unmanned aerial vehicle (UAV) has been rapidly developed and widely used in the military and civilian fields. Many countries pay more and more attention to the future market of UAV. The hardware-in-the-loop simulation of UAV navigation control system has become an indispensable stage in the research and development process. How to simulate the position information of UAV in the air is an important problem that must be solved in the whole system. Therefore, a GPS simulator is designed to solve this problem. The loading dynamics model of real-time simulator is used to simulate the real flight of UAV. Then the principle of GPS GPS and the characteristics of the output data format of airborne GPS receiver are studied. The structure of GPS simulator system is proposed, and the functions of each module in the framework are described in detail. The development and design of the simulator is divided into three parts, which are the track generation part. The data processing part and the communication interface part. The track generation part uses the German dSPACE ds1103 real-time simulator as the UAV controlled object. The whole process of UAV dynamic model modeling and real-time code generation is completed. After analyzing the RINEX original ephemeris reference data, the simulation positioning part. The motion model of GPS constellation is established by Matlab/Simulink, and the position of constellation in orbit is calculated in real time, and the visible star is judged according to the position of UAV calculated by track generation module. The design of serial port communication program based on S-Function is completed in the communication interface part. And according to the GPGGA and GPRMC protocol statements, the data processing part of the calculation of the relevant parameters are encapsulated, and then sent to the navigation control system through the RS232 serial port.
【學(xué)位授予單位】：沈陽(yáng)航空航天大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：V279;TP391.9

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1 周強(qiáng);基于實(shí)時(shí)系統(tǒng)的GPS仿真器設(shè)計(jì)[D];沈陽(yáng)航空航天大學(xué);2016年

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本文編號(hào)：1478270