sinsgps组合导航滤波算法研究.docx

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Dissertation for the Master Degree in Engineering
RESEARCH OF FILTER ALGORITHM FOR SINS/ GPS NAVIGATION SYSTEM
Candidate:
Long Jiefei
Supervisor:
Prof. Shen Yi
Academic Degree Applied for:
Master of Engineering
Specialty:
Control Science and Engineering
Affiliation:
Dept. of Control Science and Engineering
Date of Defence:
July, 2010
Degree-Conferring-Institution:
Harbin Institute of Technology
摘 要
捷联惯性导航与 GPS 作为重要的导航方式已经取得广泛应用。由于组合导航能够降低成本的同时增强导航精度,其已经成为导航技术的重要发展方向。SINS/GPS 组合导航系统结合了 SINS 的高可靠性和 GPS 的高精度, 近年来受到广泛重视并已取得一系列成功应用。
低成本捷联惯导系统,由于陀螺仪信噪比较低,此时往往存在较大的方位误差角并成为一个非线性环节,因此,研究方位大误差角下的 SINS/GPS 组合导航系统具有重要意义。
本文首先介绍了组合导航的发展现状,然后介绍了捷联惯导系统和 GPS 的基本原理,在大方位误差角的条件下建立了捷联惯导非线性误差模型及 GPS 的误差模型,并建立系统的状态方程与观测方程。
接着,论文分别介绍了 EKF、UKF、PF 及其边沿化算法。最后,论文设计了基于紧密组合的 SINS/GPS 组合导航仿真系统。首先
利用数学方法模拟一条载体轨迹,并模拟陀螺仪和加速度计的输出结果,然后进行捷联解算和 GPS 系统仿真,应用前面建立的系统模型,在此基础上将上述滤波算法用于系统滤波并分析比较。
关键词 SINS;GPS;滤波;UKF;PF
Abstract
As important navigation methods, Strapdown Inertial Navigation System (SINS) and Global Positioning System (GPS) have been used widely. At the same time, Integrated Navigation System reducing costs while enhancing the navigation accuracy has e an important development direction of navigation technology. The SINS/GPS integrated navigation system ing famous in research and practice is an ideal integrated mode which integrates the good properties of SINS and GPS, has advantages of good reliability and high precision.
Low-cost Strapdown Inertial Navigation System, due to the lower gyroscope Signal-to-Noise, often has a big misalignment azimuth angle, so it is important to research SINS/GPS integrated navigation system with a big misalignment azimuth angle.
First, the thesis introduced present situation of navigation system and the basic principle of SINS and GPS, established the error model of GPS and SINS with a big misalignment azimuth angle, and clarified the status equations and the measurement equations of the navigat