高精度组合导航系统的算法研究和实验
关键词 SINS/GPS组合导航系统 误差分析 补偿算法 系统建模 卡尔曼滤波
毕业论文设计说明书外文摘要
Title Algorithms and Experiments of High-accuracy Integrated Navigation System
Abstract
Strapdown Inertial Navigation System has high accuracy in short time, it enables autonomous navigation, but the error is accumulated over time, so it cannot work for long time; Global Positioning System ensures high-precision measurement, but easy to be interfered by external environmental. Single navigation system cannot meet the accuracy requirements , SINS/GPS integrated navigation system becomes popular. This paper firstly introduces basic principles of SINS and GPS, including its navigation equations, error analysis. Secondly, it focuses on the coning error in attitude updating algorithm and compensating methods of these errors，simulation proves that the rotation vector N sub-sample algorithm can actually reduce noncommutativity drift. Then, the combination model of two navigation systems is discussed , Kalman filter is applied to improve the system quality. The influence of parameters on the Kalman filtering effect is researched to select the appropriate filter parameters. Finally, experiments show that the algorithm can improve system accuracy.
Keywords SINS/GPS Integrated Navigation System Error Analysis Compensating Methods System Modeling Kalman filter
目 次
1 绪论 1
1.1 研究背景及意义 1
1.2 国内外研究现状 1
1.3 本文主要研究内容 3
2 导航系统原理 4
2.1 捷联惯导基本原理 4
2.2 GPS基本原理 8
2.3 本章小结 10
3 捷联惯导的姿态更新算法 11
3.1 四元数法 11
3.2 等效旋转矢量算法 11
3.3 圆锥误差及补偿算法 12
3.4 本章小结 15
4 SINS/GPS组合导航系统研究 16
4.1 SINS/GPS组合导航系统建模 16
4.2 卡尔曼滤波 18
4.3 参数变化对卡尔曼滤波的影响 22
4.4 本章小结 25
5 车载实验 26
5.1 实验内容 26
5.2 本章小结 28
结 论 29
致 谢 30
参考文献31
1 绪论
1.1 研究背景及意义