【摘要】：隨著地磁導(dǎo)航理論的發(fā)展和地磁測(cè)量技術(shù)的進(jìn)步，地磁導(dǎo)航優(yōu)勢(shì)日益突出，作為一種全新的無(wú)源導(dǎo)航方式，地磁導(dǎo)航實(shí)現(xiàn)可以實(shí)現(xiàn)全天候、高精度的自主導(dǎo)航。地磁匹配導(dǎo)航與慣性導(dǎo)航組成的導(dǎo)航系統(tǒng)，可以克服慣性導(dǎo)航誤差隨時(shí)間積累的缺點(diǎn)，實(shí)現(xiàn)長(zhǎng)時(shí)間的高精度導(dǎo)航。以此為背景，本文對(duì)地磁輔助慣性導(dǎo)航系統(tǒng)進(jìn)行了分析研究。 慣性導(dǎo)航系統(tǒng)是地磁輔助慣性組合導(dǎo)航系統(tǒng)的基礎(chǔ)，本文首先對(duì)捷聯(lián)式慣性導(dǎo)航系統(tǒng)的原理進(jìn)行了簡(jiǎn)要介紹，分析了姿態(tài)更新、速度更新和位置更新算法。討論了慣性器件數(shù)據(jù)仿真方法并對(duì)利用仿真結(jié)果對(duì)捷聯(lián)慣性導(dǎo)航系統(tǒng)進(jìn)行仿真驗(yàn)證，為地磁輔助慣性導(dǎo)航系統(tǒng)的研究奠定了基礎(chǔ)。 地磁匹配技術(shù)是地磁輔助慣性導(dǎo)航系統(tǒng)的關(guān)鍵，為此，本文對(duì)世界地磁參考場(chǎng)模型的計(jì)算和地磁匹配算法進(jìn)行了研究，，討論了常用地磁匹配技術(shù)的使用條件以及局限性。針對(duì)MAGCOM地磁匹配算法在指示路徑存在航向誤差時(shí)匹配精度低的缺點(diǎn)，提出了帶有衰減因子的MAGCOM地磁匹配算法，仿真表明，該算法有效提高了MAGCOM地磁匹配算法的精度。 對(duì)地磁輔助慣性組合導(dǎo)航技術(shù)進(jìn)行了研究，在慣性導(dǎo)航誤差模型的基礎(chǔ)上，完成了地磁匹配輔助慣性導(dǎo)航的卡爾曼濾波器的設(shè)計(jì)，并通過(guò)模糊控制理論，改善了卡爾曼濾波的性能，建立了基于模糊自適應(yīng)卡爾曼濾波的地磁輔助慣性導(dǎo)航系統(tǒng)。仿真表明，慣性導(dǎo)航誤差可以被地磁輔助慣性導(dǎo)航系統(tǒng)有效抑制。 最后，在靜態(tài)單軸磁場(chǎng)條件下對(duì)地磁導(dǎo)航進(jìn)行了測(cè)試，驗(yàn)證了地磁輔助慣性導(dǎo)航系統(tǒng)的可行性和正確性。同時(shí)，為了今后地磁導(dǎo)航半實(shí)物仿真的進(jìn)一步深入研究，本文設(shè)計(jì)了三軸動(dòng)態(tài)地磁導(dǎo)航半實(shí)物仿真實(shí)驗(yàn)系統(tǒng)，并完成了地磁信號(hào)采集卡的軟硬件設(shè)計(jì)，為進(jìn)行三軸動(dòng)態(tài)地磁導(dǎo)航半實(shí)物仿真實(shí)驗(yàn)提供了條件。
[Abstract]:With the development of geomagnetic navigation theory and the progress of geomagnetic measurement technology, geomagnetic navigation advantages become increasingly prominent. As a new passive navigation mode, geomagnetic navigation can realize all-weather and high-precision autonomous navigation. The navigation system composed of geomagnetic matching navigation and inertial navigation can overcome the shortcoming of inertial navigation error accumulation with time and realize long time high precision navigation. Based on this background, the geomagnetic aided inertial navigation system is analyzed and studied in this paper. Inertial navigation system is the basis of geomagnetic assistant inertial integrated navigation system. Firstly, the principle of strapdown inertial navigation system is introduced briefly, and the algorithms of attitude updating, velocity updating and position updating are analyzed. The simulation method of inertial device data is discussed and the simulation results are used to verify the strapdown inertial navigation system, which lays a foundation for the research of geomagnetic aided inertial navigation system. Geomagnetic matching technology is the key of geomagnetic aided inertial navigation system. In this paper, the calculation of geomagnetic reference field model and geomagnetic matching algorithm are studied, and the application conditions and limitations of geomagnetic matching techniques are discussed. In view of the shortcoming of MAGCOM geomagnetic matching algorithm with heading error, a MAGCOM geomagnetic matching algorithm with attenuation factor is proposed. The simulation results show that the algorithm can effectively improve the precision of MAGCOM geomagnetic matching algorithm. Based on the error model of inertial navigation, the Kalman filter for geomagnetic matching inertial navigation is designed, and the fuzzy control theory is adopted. The performance of Kalman filter is improved, and a geomagnetic aided inertial navigation system based on fuzzy adaptive Kalman filter is established. Simulation results show that the inertial navigation error can be effectively suppressed by geomagnetic aided inertial navigation system. Finally, the geomagnetic navigation system is tested under the condition of static uniaxial magnetic field, which verifies the feasibility and correctness of the geomagnetic aided inertial navigation system. At the same time, in order to further study the simulation of geomagnetic navigation in the future, this paper designs a three-axis dynamic geomagnetic navigation hardware-in-the-loop simulation experimental system, and completes the design of the hardware and software of the geomagnetic signal acquisition card. The condition is provided for the simulation experiment of three axis dynamic geomagnetic navigation.
【學(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2014
【分類號(hào)】：TN96.2

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