【摘要】：隨著導航技術不斷發(fā)展,單一的導航系統(tǒng)已不能滿足載體導航的精度和穩(wěn)定性,組合導航成為目前發(fā)展的主流方向。GPS/SINS組合是當前流行的導航方式之一,能較好的提供載體的速度、姿態(tài)和位置信息,但是當載體處于GPS信號受到干擾的區(qū)域(如街道、隧道、峽谷等),GPS/SINS組合導航的精度會受到干擾,穩(wěn)定性降低。為解決GPS信號缺失而帶來的影響,本文引入光流視覺導航系統(tǒng),將GPS/SINS/光流進行組合,并進行了相關研究。首先根據(jù)捷聯(lián)慣導解算原理和慣導元件的數(shù)學模型,設計了載體的軌跡發(fā)生器。利用軌跡發(fā)生器提供載體的速度、姿態(tài)和位置信息進行捷聯(lián)解算matlab實驗仿真,得出純捷聯(lián)慣導的不足。為解決捷聯(lián)慣導誤差發(fā)散的問題,提出GPS/SINS組合方法,考慮載體為微型四旋翼飛行器,系統(tǒng)為非線性系統(tǒng),故采用EKF代替KF進行數(shù)據(jù)融合濾波,并進行實驗仿真,表明GPS/SINS組合要優(yōu)于純捷聯(lián)慣導。然后,引入光流視覺導航系統(tǒng),選用Hom-Schunck法進行光流計算載體的速度信息。為了提高導航系統(tǒng)的容錯能力,選用聯(lián)邦濾波組合結(jié)構(gòu),設計了GPS/SINS和SINS/光流兩個子濾波器,組成了 GPS/SINS/光流的組合導航系統(tǒng),并采用EKF進行數(shù)據(jù)濾波。通過四旋翼實際飛行試驗對比,結(jié)果表明GPS/SINS/光流組合的導航效果要優(yōu)于GPS/SINS組合。
[Abstract]:With the continuous development of navigation technology, the single navigation system can not meet the accuracy and stability of carrier navigation. Integrated navigation has become the mainstream direction of development. GPS / sins integration is one of the most popular navigation methods. It can provide the velocity, attitude and position information of the carrier, but the accuracy of GPS / sins integrated navigation will be disturbed and the stability will be reduced when the carrier is in the area where the GPS signal is interfered (such as streets, tunnels, canyons, etc.). In order to solve the influence caused by the lack of GPS signal, the optical flow visual navigation system is introduced in this paper, the GPS/SINS/ optical flow is integrated, and the related research is carried out. Firstly, the track generator of carrier is designed according to the principle of sins solution and the mathematical model of inertial navigation element. The matlab simulation of strapdown solution is carried out by using the velocity, attitude and position information of carrier provided by the locus generator, and the shortage of pure strapdown inertial navigation is obtained. In order to solve the problem of error divergence of strapdown inertial navigation system, a GPS/SINS combination method is proposed. Considering that the carrier is a micro four-rotor aircraft and the system is a nonlinear system, EKF is used instead of KF for data fusion filtering, and the experimental simulation is carried out. It shows that the GPS/SINS combination is superior to the pure strapdown inertial navigation system. Then, the optical flow visual navigation system is introduced, and the Hom-Schunck method is used to calculate the velocity information of the carrier. In order to improve the fault-tolerant ability of the navigation system, the federated filter integrated structure is selected. Two sub-filters, GPS/SINS and SINS/, are designed to form the integrated navigation system of the GPS/SINS/ optical flow, and the EKF is used to filter the data. The results show that the navigation effect of GPS/SINS/ optical flow combination is better than that of GPS/SINS combination.
【學位授予單位】：天津工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：TN967.2

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