本文選題：捷聯(lián)慣導(dǎo) + 綜合校正��； 參考：《哈爾濱工程大學(xué)》2014年碩士論文

【摘要】：由于捷聯(lián)慣導(dǎo)系統(tǒng)將傳感器直接固定在載體上,在載體機(jī)動(dòng),尤其是惡劣的機(jī)動(dòng)環(huán)境下,會(huì)產(chǎn)生極其嚴(yán)重的動(dòng)態(tài)誤差,進(jìn)而隨時(shí)間的增長(zhǎng)定位誤差積累,長(zhǎng)時(shí)間運(yùn)行時(shí)不能提供需要的足夠精確的導(dǎo)航與定位,因此,要對(duì)現(xiàn)在裝備的捷聯(lián)慣導(dǎo)系統(tǒng)進(jìn)行改進(jìn),以滿足實(shí)際需要。本文提出組合式捷聯(lián)慣導(dǎo)系統(tǒng)綜合校正方式,用以提高系統(tǒng)的可靠性和導(dǎo)航定位精度,并探索進(jìn)一步提高系統(tǒng)的定位準(zhǔn)確度、減少系統(tǒng)誤差的方法。本文分為五章,主要對(duì)以下四個(gè)方面的內(nèi)容進(jìn)行展開:首先,論文分析并解釋了捷聯(lián)慣導(dǎo)系統(tǒng)的基本原理,列寫其基本方程及算法方程。按照捷聯(lián)慣導(dǎo)系統(tǒng)各模塊運(yùn)算方框圖的各個(gè)方面進(jìn)行算法設(shè)計(jì);分析了系統(tǒng)產(chǎn)生的誤差,列寫誤差方程;并對(duì)慣導(dǎo)系統(tǒng)進(jìn)行粗、精對(duì)準(zhǔn)設(shè)計(jì)及其仿真,之后設(shè)計(jì)了仿真程序框圖,編寫了仿真程序,進(jìn)行了慣性導(dǎo)航系統(tǒng)的仿真,并進(jìn)行了分析,驗(yàn)證了程序的正確性與可用性。其次,深入剖析了兩點(diǎn)校、三點(diǎn)校和點(diǎn)點(diǎn)校的校正方法,通過對(duì)這些傳統(tǒng)綜合校正的誤差進(jìn)行分析以及計(jì)算機(jī)仿真,說明了該傳統(tǒng)的綜合校正不僅對(duì)外部信息要求苛刻,而且要求船舶勻速直航,限制了綜合校正的使用范圍,因此有必要研究船舶在任意機(jī)動(dòng)狀態(tài)時(shí)都可以進(jìn)行綜合校正的方法。再次,提出了一種組合式卡爾曼綜合校正方式,并對(duì)該組合式綜合校正進(jìn)行了設(shè)計(jì)與分析驗(yàn)證。分析仿真結(jié)果,證明該種組合式綜合校正方法的正確性與適用性,可以作為艦船在任意機(jī)動(dòng)狀態(tài)下進(jìn)行綜合校正選擇使用。最后,在組合式綜合校正的基礎(chǔ)上探索進(jìn)一步減少系統(tǒng)誤差的方法,對(duì)旋轉(zhuǎn)捷聯(lián)式慣導(dǎo)系統(tǒng)進(jìn)行綜合校正的算法設(shè)計(jì)及其仿真,并進(jìn)行了分析,確保了理論的正確性。并進(jìn)行了靜態(tài)條件下的綜合校正方法的試驗(yàn),證明了該捷聯(lián)慣導(dǎo)系統(tǒng)綜合校正方案的實(shí)用性。
[Abstract]:Because the strapdown inertial navigation system immobilizes the sensor directly on the carrier, it will produce extremely serious dynamic error in the carrier maneuvering, especially in the bad maneuvering environment, and then accumulate the positioning error with the increase of time. Long time operation can not provide enough accurate navigation and positioning, so the strapdown inertial navigation system should be improved to meet the actual needs. In this paper, a comprehensive correction method of combined strapdown inertial navigation system is proposed to improve the reliability of the system and the accuracy of navigation and positioning, and to explore ways to further improve the positioning accuracy of the system and to reduce the system error. This paper is divided into five chapters, which mainly focus on the following four aspects: firstly, the basic principles of sins are analyzed and explained, and the basic equations and algorithm equations are listed and written. The algorithm is designed according to the operation block diagram of every module of sins, the errors produced by the system are analyzed, the error equations are listed, and the coarse, fine alignment design and simulation of the inertial navigation system are carried out. Then, the block diagram of simulation program is designed, the simulation program is written, the simulation of inertial navigation system is carried out, and the correctness and availability of the program are verified. Secondly, the correction methods of two-point correction, three-point correction and point-point correction are deeply analyzed. Through the analysis of the errors of these traditional comprehensive corrections and the computer simulation, it is shown that the traditional comprehensive correction is not only demanding on external information. Moreover, it is necessary to study the method of comprehensive correction for ships in any maneuvering state because of the requirement of uniform speed and direct navigation, which limits the range of application of synthetic correction. Thirdly, a combined Kalman synthesis correction method is proposed, and the combined integrated correction is designed and analyzed. The simulation results show that the combined correction method is correct and applicable, and it can be used as a comprehensive correction choice for ships under arbitrary maneuvering conditions. Finally, on the basis of combined synthesis correction, the method of further reducing system error is explored, and the algorithm design and simulation of integrated correction for rotary strapdown inertial navigation system are carried out, and the correctness of the theory is ensured. The test of the synthetic correction method under static condition proves the practicability of the integrated correction scheme of the strapdown inertial navigation system.
【學(xué)位授予單位】：哈爾濱工程大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TN96

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