【摘要】：隨著對(duì)地球資源的開發(fā)利用,極地地區(qū)不再被視為成為人類探索的“禁區(qū)”,其豐富的資源吸引著各國的目光。但由于極地地區(qū)特殊的地理位置和自然環(huán)境,傳統(tǒng)意義上的慣性導(dǎo)航系統(tǒng)不再適用于極區(qū)導(dǎo)航,因而如何在極區(qū)安全有效的進(jìn)行導(dǎo)航被提上日程。為解決這一問題,現(xiàn)有的文獻(xiàn)資料都傾向于采用特殊的慣性導(dǎo)航算法編排來加以實(shí)現(xiàn),比如:游動(dòng)坐標(biāo)系算法編排,逆坐標(biāo)系算法編排與格網(wǎng)坐標(biāo)系算法編排等。同時(shí),受客觀條件的限制,獲得真實(shí)的極區(qū)實(shí)驗(yàn)數(shù)據(jù)十分困難,所以極區(qū)慣性導(dǎo)航系統(tǒng)研究多在純數(shù)學(xué)仿真條件下進(jìn)行,這難以反映實(shí)際動(dòng)態(tài)環(huán)境。針對(duì)上述問題,本文以格網(wǎng)坐標(biāo)系作為參考坐標(biāo)系,并以此為基礎(chǔ)對(duì)格網(wǎng)慣性導(dǎo)航系統(tǒng)算法編排進(jìn)行完善以及對(duì)旋轉(zhuǎn)調(diào)制算法進(jìn)行研究。同時(shí),本文完成格網(wǎng)慣性導(dǎo)航系統(tǒng)下的誤差模型推導(dǎo),并結(jié)合里程計(jì)(Odometer ODO)與全球定位系統(tǒng)(Global Positioning System GPS)這兩種導(dǎo)航方式進(jìn)行低緯度下的組合導(dǎo)航實(shí)驗(yàn)驗(yàn)證。為解決極區(qū)下導(dǎo)航算法驗(yàn)證多采用純數(shù)學(xué)手段這一難題,本文設(shè)計(jì)了緯度增量法和軌跡旋轉(zhuǎn)法兩套方案對(duì)低緯度下實(shí)際實(shí)驗(yàn)數(shù)據(jù)進(jìn)行轉(zhuǎn)換,并獲得極區(qū)仿真實(shí)驗(yàn)數(shù)據(jù)。最后,采用極區(qū)仿真實(shí)驗(yàn)數(shù)據(jù)對(duì)基于格網(wǎng)坐標(biāo)系下的旋轉(zhuǎn)調(diào)制誤差特性以及組合導(dǎo)航進(jìn)行實(shí)驗(yàn)驗(yàn)證。論文主要進(jìn)行了以下幾個(gè)方面的研究工作:1.第二章以網(wǎng)慣性導(dǎo)航系統(tǒng)算法編排為基礎(chǔ),對(duì)格網(wǎng)坐標(biāo)系下旋轉(zhuǎn)調(diào)制誤差特性進(jìn)行分析。2.第三章對(duì)格網(wǎng)慣性導(dǎo)航系統(tǒng)下的誤差模型進(jìn)行推導(dǎo),并結(jié)合ODO,GPS兩種導(dǎo)航手段進(jìn)行格網(wǎng)坐標(biāo)系下的組合導(dǎo)航研究。3.第四章設(shè)計(jì)了緯度增量法和軌跡旋轉(zhuǎn)法兩套數(shù)據(jù)轉(zhuǎn)換方案,用以將低緯度下實(shí)際實(shí)驗(yàn)數(shù)據(jù)轉(zhuǎn)換成極區(qū)仿真實(shí)驗(yàn)數(shù)據(jù)。4.根據(jù)極區(qū)仿真實(shí)驗(yàn)數(shù)據(jù),第四章進(jìn)行極區(qū)旋轉(zhuǎn)調(diào)制誤差特性分析以及極區(qū)組合導(dǎo)航方面的實(shí)驗(yàn)驗(yàn)證。
[Abstract]:With the development and utilization of the earth's resources, the polar regions are no longer regarded as "forbidden zones" for human exploration, and their rich resources attract the attention of all countries. However, due to the special geographical location and natural environment in polar regions, the traditional inertial navigation system is no longer suitable for polar navigation, so how to conduct navigation safely and effectively in polar regions has been put on the agenda. In order to solve this problem, the existing literature tends to use special inertial navigation algorithm arrangement, such as: swimming coordinate system algorithm arrangement, inverse coordinate system algorithm arrangement and grid coordinate system algorithm arrangement, etc. At the same time, due to the limitation of objective conditions, it is very difficult to obtain real polar experimental data, so the study of polar inertial navigation system is mostly carried out under pure mathematical simulation conditions, which is difficult to reflect the actual dynamic environment. In order to solve the above problems, this paper takes the grid coordinate system as the reference coordinate system, based on which the algorithm arrangement of the grid inertial navigation system is improved and the rotation modulation algorithm is studied. At the same time, the error model of grid inertial navigation system is deduced in this paper, and combined with the two navigation modes of the mileage meter (Odometer ODO) and the global positioning system (Global Positioning System GPS), the integrated navigation experiments at low latitudes are carried out. In order to solve the problem of using pure mathematics in the verification of navigation algorithm under polar region, this paper designs two schemes, latitude increment method and trajectory rotation method, to convert the actual experimental data at low latitude, and obtain the experimental data of polar region simulation. Finally, the rotation modulation error characteristics based on grid coordinate system and the integrated navigation are verified by polar simulation experiment data. The thesis mainly carries on the following several aspects of research work: 1. In the second chapter, based on the algorithm arrangement of grid inertial navigation system, the error characteristics of rotation modulation in grid coordinate system are analyzed. In the third chapter, the error model of grid inertial navigation system is deduced, and combined with ODO,GPS two navigation methods, the research of integrated navigation in grid coordinate system. 3. In the fourth chapter, two sets of data conversion schemes are designed, I. E. latitude increment method and trajectory rotation method, which are used to convert the actual experimental data into polar simulation experimental data at low latitudes. According to the experimental data of polar region simulation, in chapter 4, the error characteristics of polar rotation modulation and the experimental verification of polar integrated navigation are analyzed.
【學(xué)位授予單位】：國防科學(xué)技術(shù)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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1 趙成龍;基于格網(wǎng)坐標(biāo)系的極區(qū)慣性導(dǎo)航與組合導(dǎo)航算法研究[D];國防科學(xué)技術(shù)大學(xué);2014年

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本文編號(hào)：2246160