组合导航硕士论文.doc

摘 要 SINS（捷联惯性导航系统）具有完全自主性，但无法长时间单独工作，GPS长期精度高，但易受外界干扰而无法定位。利用组合导航技术将SINS与GPS进行组合，这样能发挥它们各自的优势，取长补短，是目前导航技术领域内的主要研究内容。近年来，基于MEMS技术的MIMU因其体积小、成本低等优势，在SINS中得到广泛应用，尤其是对微小型飞行载体的导航、制导与控制具有重要意义。因此，本文以实验室自主设计的基于低成本MEMS的MIMU和导航计算机为实验对象，对SINS/GPS组合导航算法进行研究。 首先，根据SINS的基本原理及其常用坐标系，对SINS算法中的姿态、速度和位置更新进行了推导，并通过MATLAB完成SINS算法的仿真。仿真结果验证了SINS算法的正确性。 其次，根据GPS的系统组成及定位原理，对造成GPS测量误差的原因进行了分析，并完成由GPS预报星历计算卫星坐标的算法仿真。仿真结果表明，此算法对于GPS接收机减少定位时间和提高定位精度提供了一定的理论基础。 再次，根据SINS/GPS组合导航系统的误差模型，分别建立了不同组合模式下的状态方程和观测方程，并用扩展卡尔曼滤波和无迹卡尔曼滤波对组合方案进行了仿真。仿真结果表明，UKF对非线性系统的滤波效果要优于EKF，紧耦合组合同样优于松耦合组合。 最后，通过三轴转台实验和跑车实验对SINS/GPS组合导航系统的各部分算法和程序代码进行验证。结果表明，组合导航各部分程序都是可行的，而且算法较好地抑制了SINS长时间工作时解算结果发散的现象，具有一定的工程应用价值。 关键词：MEMS；SINS；GPS；组合导航；卡尔曼滤波Abstract SINS has totally autonomy, but is not suitable for working long and alone. GPS has high long-term accuracy, but it is so vulnerable to outside interference that cant position. By using the technology of integrated navigation, SINS and GPS can be combined to make use of their advantages and learn from each other, so this technology is the main research content of the navigation technology area now. In recent years, MIMU which based on MEMS technology has been widely used in SINS because of its small volume and low cost, especially having great importance to make navigation, guidance and control of micro flying carrier come true. Therefore, this paper use MIMU and navigation computer as experimental subjects, which are independently designed by the laboratory, and research on the SINS/GPS integrated navigation algorithm. First, according to the basic principles of SINS and its common coordinate systems, the updates of attitude, speed and location in the SINS navigation algorithm are been inferred, and the simulation of the SINS algorithm is completed by using MATLAB. The simulation results verify the correctness of the SINS algorithm. Second, according to the composition and positioning principle of GPS navigation system, the causes of the GPS measurement error are analy