高空长航时无人机设计3.pdfVIP

摘 要 本论文以高空长航时无人机的具体需要为背景，以高精度自主导航系统为核心，重 点研究GPS定位误差模型、联邦滤波算法，提出SINS/GPS/CNS组合导航系统的总体设计 方案，对联邦滤波的信息分配原则、重构及滤波收敛等问题提出解决方案。最后通过构 建半物理仿真系统，进行实时仿真分析，验证长时间、远距离应用背景下组合导航系统 的精度和可靠性。主要工作包括以下几个部分： 1．研究了捷联惯导系统的工作原理、基本算法以及惯性器件的误差模型，编写了捷 联惯导仿真算法。仿真实验分为加入惯性器件误差与未加惯性器件误差两种情况，对比 仿真结果，表明惯性导航系统误差随时间累计而增大，导航精度远不能满足无人机长时 间 行的要求。 2．采用时间序列方法对GPS实测数据进行分析，针对GPS误差序列的统计特性，对 静态单点定位的位置误差和速度误差分别建立了模型。 3．研究分析了联邦卡尔曼滤波器的算法和结构特点，提出了一种SINS/GPS/CNS组 合导航系统的滤波方案，该方案既保证了容错能力，又兼顾到了导航精度。 4．对SINS/GPS/CNS惯性组合导航系统的各分系统、子滤波器及主滤波器进行了数 学建模与分析，并构造了半物理仿真系统进行实时仿真实验，结果表明采用联邦滤波的 确是提高导航精度的有效途径。 关键字：捷联惯导系统，GPS导航系统，时间序列，联邦滤波，组合导航 i Abstract Based on the requirement of high accuracy positioning and reliability for integrated navigation system used on high altitude and long-flight-time Unmanned Aerial Vehicle (UAV) and focused on the GPS position error module, federated Kalman filter algorithm, then a integrated navigation system combined Strapdown Inertial Navigation System(SINS), Global Position System(GPS) and Celestial Navigation System (CNS) is proposed in this paper. And the solution of information distributes principle and convergence in federated filter and etc. are also proposed. At last the SINS/GPS/CNS integrated navigation system is simulated. The simulation results show that the integrated navigation system can provide satisfactory navigation precise. The main work of this dissertation has 4 aspects as follow: Firstly, the Strapdown Inertial Navigation System (SINS) working principle, basic algorithm and error model of inertial components are researched. The simulation experiment is made by the SINS simulation program. From the comparison between simulation result without inertial components error and result with inertial components error, the SINS error is cumulative and its precision can not meet the navigation requirement of lo