本文選題：加速度計(jì) + 無(wú)陀螺捷聯(lián)系統(tǒng)　； 參考：《哈爾濱工程大學(xué)》2014年碩士論文

【摘要】：微慣性導(dǎo)航系統(tǒng)(MINS)是由MEMS陀螺和加速度計(jì)構(gòu)成的導(dǎo)航系統(tǒng),然而由于MEMS陀螺的漂移較大,并且陀螺的抗沖擊能力差,導(dǎo)致由其構(gòu)成的MINS精度比較低,無(wú)法單獨(dú)使用。而與MEMS陀螺相比較,MEMS加速度計(jì)的精度相對(duì)較高,并且成本相對(duì)較低、穩(wěn)定性好、使用時(shí)間相對(duì)較長(zhǎng)、功耗小等特點(diǎn),因此本文采用由MEMS加速度計(jì)來(lái)構(gòu)成的無(wú)陀螺微慣性導(dǎo)航系統(tǒng)的慣性測(cè)量單元。本課題是基于微機(jī)械加速度計(jì)的無(wú)陀螺捷聯(lián)慣性技術(shù)研究,并驗(yàn)證其是否可行,用微機(jī)械加速度計(jì)來(lái)構(gòu)成無(wú)陀螺捷聯(lián)慣性導(dǎo)航系統(tǒng),通過(guò)基于DSP+FPGA的硬件平臺(tái)采集6路安放在載體非質(zhì)心處的高精度MEMS加速度計(jì)信息,以代替陀螺來(lái)測(cè)量載體角運(yùn)動(dòng)信息,最終經(jīng)過(guò)DSP進(jìn)行解算來(lái)實(shí)現(xiàn)系統(tǒng)的導(dǎo)航定位定姿。本文首先介紹無(wú)陀螺捷聯(lián)慣導(dǎo)的理論基礎(chǔ),通過(guò)和有陀螺捷聯(lián)慣性導(dǎo)航系統(tǒng)的工作方式進(jìn)行比較發(fā)現(xiàn)無(wú)陀螺捷聯(lián)慣導(dǎo)系統(tǒng)的工作原理和有陀螺捷聯(lián)慣性導(dǎo)航系統(tǒng)的工作原理是相類(lèi)似的。其次對(duì)六個(gè)微機(jī)械加速度計(jì)在載體上的固定方式進(jìn)行設(shè)計(jì),根據(jù)載體非質(zhì)心處的比力信息可求得載體的質(zhì)心處的比力和繞質(zhì)心的轉(zhuǎn)動(dòng)角加速度,進(jìn)而解算出由載體質(zhì)心對(duì)地線加速度和載體繞質(zhì)心的轉(zhuǎn)動(dòng)角速度,采用FPGA來(lái)完成6路MEMS加速度信號(hào)的采集,并對(duì)FPGA的外圍電路進(jìn)行了具體的設(shè)計(jì)。并且根據(jù)本文的硬件系統(tǒng)設(shè)計(jì)了標(biāo)定方案,對(duì)安裝在載體非質(zhì)心處的六個(gè)微機(jī)械加速度計(jì)進(jìn)行誤差標(biāo)定,以及設(shè)計(jì)了角速度解算方法,最后通過(guò)導(dǎo)航解算得到載體的姿態(tài),導(dǎo)航解算由DSP完成。其次設(shè)計(jì)系統(tǒng)的總體方案并對(duì)主要器件進(jìn)行選型,在完成上述工作后,將要對(duì)硬件電路進(jìn)行設(shè)計(jì),并對(duì)系統(tǒng)的軟件部分進(jìn)行設(shè)計(jì),軟件設(shè)計(jì)部分主要包括對(duì)各模塊的編程,本文采用的編程語(yǔ)言是C語(yǔ)言。最終根據(jù)實(shí)驗(yàn)室現(xiàn)有的條件設(shè)計(jì)了具體的實(shí)驗(yàn)方案,根據(jù)實(shí)驗(yàn)數(shù)據(jù)進(jìn)行仿真分析,其結(jié)果驗(yàn)證本課題設(shè)計(jì)的基于微機(jī)械加速度計(jì)的無(wú)陀螺捷聯(lián)慣導(dǎo)系統(tǒng)在理論上是可行的。
[Abstract]:Micro inertial navigation system (MEMS) is a navigation system composed of MEMS gyroscope and accelerometer. However, because of the large drift of MEMS gyroscope and the poor impact resistance of MEMS gyroscope, the precision of MINS constituted by MEMS gyroscope is low and can not be used alone. Compared with MEMS gyroscope, the accelerometer has higher precision, lower cost, better stability, longer service time and lower power consumption. Therefore, the inertial measurement unit of gyroscope free micro inertial navigation system is used in this paper, which is composed of MEMS accelerometer. This paper is based on the research of gyroscope-free strapdown inertial technology based on micromechanical accelerometers, and verifies whether it is feasible to use micromechanical accelerometers to construct gyroscope-free strapdown inertial navigation system. Through the hardware platform based on DSP FPGA to collect the high-precision MEMS accelerometer information placed in the non-centroid of the carrier, instead of the gyroscope to measure the angular motion information of the carrier, finally through the DSP solution to achieve the navigation positioning and attitude determination of the system. This paper first introduces the theoretical basis of gyroscope-free strapdown inertial navigation. It is found that the principle of gyroscope free strapdown inertial navigation system is similar to that of gyroscopic strapdown inertial navigation system by comparing with that of gyroscope strapdown inertial navigation system. Secondly, the fixed mode of six micro-mechanical accelerometers on the carrier is designed. According to the specific force information of the non-centroid of the carrier, the specific force at the center of mass and the angular acceleration of rotation around the center of mass can be obtained. Then, the acceleration of ground wire and the rotation rate of carrier around the center of mass are calculated by the carrier centroid, and the FPGA is used to complete the acquisition of six MEMS acceleration signals, and the peripheral circuit of FPGA is designed in detail. According to the hardware system of this paper, the calibration scheme is designed, the error calibration of the six micro-mechanical accelerometers installed in the non-centroid of the carrier is carried out, and the angular velocity calculation method is designed. Finally, the attitude of the carrier is obtained through the navigation solution. The navigation solution is completed by DSP. Secondly, the overall scheme of the system is designed and the main devices are selected. After completing the above work, the hardware circuit will be designed, and the software part of the system will be designed. The software design part mainly includes the programming of each module. The programming language used in this paper is C language. Finally, according to the existing conditions in the laboratory, a specific experimental scheme is designed. The simulation results show that the gyroscope free strapdown inertial navigation system based on micro-mechanical accelerometer is feasible in theory.
【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(lèi)號(hào)】：TN96

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 李長(zhǎng)森;郭海雷;谷巖;肖龍;;MEMS微慣性組合靜態(tài)誤差建模與補(bǔ)償[J];微納電子技術(shù);2012年01期

2 岳鵬;史震;王劍;楊杰;;基于MEMS加速度計(jì)的無(wú)陀螺慣導(dǎo)系統(tǒng)[J];中國(guó)慣性技術(shù)學(xué)報(bào);2011年02期

3 祝燕華;蔡體菁;楊卓鵬;;MEMS-IMU/GPS組合導(dǎo)航系統(tǒng)的實(shí)現(xiàn)[J];中國(guó)慣性技術(shù)學(xué)報(bào);2009年05期

4 崔敏;馬鐵華;張慧;曹詠宏;;基于十二加速度計(jì)的GFSINS安裝誤差標(biāo)定及補(bǔ)償[J];中國(guó)慣性技術(shù)學(xué)報(bào);2009年04期

5 宋麗君;秦永元;;MEMS加速度計(jì)的六位置測(cè)試法[J];測(cè)控技術(shù);2009年07期

6 苑廣欣;郝永平;張啟東;;用于微慣性測(cè)量單元的FPGA數(shù)據(jù)采集系統(tǒng)[J];國(guó)外電子測(cè)量技術(shù);2008年09期

7 李文江;趙增輝;;用SignalTap II邏輯分析儀調(diào)試FPGA[J];無(wú)線電工程;2007年01期

8 曹詠弘,祖靜,林祖森;無(wú)陀螺捷聯(lián)慣導(dǎo)系統(tǒng)綜述[J];測(cè)試技術(shù)學(xué)報(bào);2004年03期

9 尹德進(jìn),王宏力,劉光斌;捷聯(lián)慣導(dǎo)系統(tǒng)六加速度計(jì)配置方案研究[J];中國(guó)慣性技術(shù)學(xué)報(bào);2003年02期

10 史震;無(wú)陀螺捷聯(lián)慣導(dǎo)系統(tǒng)中加速度計(jì)配置方式[J];中國(guó)慣性技術(shù)學(xué)報(bào);2002年01期

相關(guān)博士學(xué)位論文 前1條

1 劉志平;無(wú)陀螺捷聯(lián)慣導(dǎo)系統(tǒng)若干關(guān)鍵技術(shù)研究[D];哈爾濱工程大學(xué);2010年

相關(guān)碩士學(xué)位論文 前10條

1 楊軒;無(wú)陀螺SINS與GPS組合導(dǎo)航系統(tǒng)研究[D];哈爾濱工程大學(xué);2012年

2 羅廣紅;基于DSP/FPGA的捷聯(lián)導(dǎo)航計(jì)算機(jī)研究[D];哈爾濱工程大學(xué);2012年

3 張磊;船用捷聯(lián)式慣性/天文組合導(dǎo)航方法的研究[D];哈爾濱工程大學(xué);2012年

4 郭韶華;基于DSP和FPGA的導(dǎo)航計(jì)算機(jī)設(shè)計(jì)[D];清華大學(xué);2011年

5 柳向全;基于FPGA和ARM的動(dòng)態(tài)色散補(bǔ)償模塊控制電路的設(shè)計(jì)與實(shí)現(xiàn)[D];山東大學(xué);2011年

6 梅記敏;無(wú)陀螺捷聯(lián)慣性導(dǎo)航系統(tǒng)算法研究[D];哈爾濱工程大學(xué);2011年

7 劉國(guó)志;基于DSP/FPGA的捷聯(lián)慣性導(dǎo)航系統(tǒng)設(shè)計(jì)[D];大連理工大學(xué);2009年

8 丁姜;捷聯(lián)慣導(dǎo)半實(shí)物仿真平臺(tái)的設(shè)計(jì)與實(shí)現(xiàn)[D];沈陽(yáng)理工大學(xué);2009年

9 孟兵;相控陣?yán)走_(dá)自適應(yīng)旁瓣相消技術(shù)的研究[D];南京理工大學(xué);2008年

10 張帥勇;基于MIMU的捷聯(lián)慣性/GPS組合系統(tǒng)研究[D];南京理工大學(xué);2008年

，

本文編號(hào)：1985707