仿生偏振光gps地磁组合导航方法设计及实现计算机应用技术专业论文.docxVIP

仿生偏振光／GPS／地磁组合导航方法设计及实现 仿生偏振光／GPS／地磁组合导航方法设计及实现 摘 要 大气自然偏振特性蕴含罗盘方位信息，利用自然偏振特性的仿生偏振光导 航是一种新型自主导航方法，是弱／无卫星环境下导航研究的一个重要尝试。因 此，仿生偏振光导航及由其构成的组合导航技术研究，具有重要的研究意义和 应用价值。 本文的主要内容如下： (1)在仿生偏振光导航研究的基础上，设计了仿生偏振光／GPS／地磁组合 导航方法。该方法基于联合卡尔曼滤波器，根据仿生偏振光、GPS、地磁导航 的特性分别设计局部滤波器，并以全局滤波器进行数据最优融合，最终获取连 续、可靠的导航信息。 (2)根据仿生偏振光／GPS／地磁组合导航方法的研究，设计了一套仿生偏 振光／GPS／地磁组合导航系统方案。该系统采用现有的PC技术、无线通信技术、 嵌入式技术和传感器技术，能够获取大气偏振、GPS、地磁和里程信息，接受 远程控制并进行准确的运动，为仿生偏振光／GPS／地磁组合导航方法的研究提 供了验证的实验平台。 (3)在研制仿生偏振光／GPS／地磁组合导航实验平台的基础上，开展了仿 生偏振光导航及组合导航实验，并对导航实验数据进行了详细的分析。实验结 果验证了本文设计的组合导航实验平台和组合导航方法的合理性和可行性。 关键词：仿生；偏振信息获取：偏振光导航；组合导航；卡尔曼滤波 Design Design and Implementation of BPNS／GPS／GNS Integrated Navigation ABSTRACT Polarization properties of the atmosphere contain bearing information．Bionic polarized—light navigation using polarization properties is a new method of autonomous navigation，which is an important attempt on navigation studies in weak／non—satellite environment．Therefore，the research on bionic polarized．1ight navigation and integrated navigation based on it is important and valuable． The main contents are as follows： (1)After the research of bionic polarized-light navigation， a Bionic Polarized·Light／GPS／GNS integrated navigation method is brought forward， which iS based on federated Kalman filter．According to the characteristic of Bionic Polarized·Light，GPS，and GNS navigation，the local filters are designed． Then the main filter is designed for optimal fusion．Finally，the method can access continuous，reliable navigation information． (2)On the ground of the integrated navigation method，a Bionic Polarized．Light／ GPS／GNS integrated navigation system is designed．The system uses the existing PC technology,wireless communication technology,embedded technology and sensor technology，it can obtain the polarization information of atmosphere，GPS information，geomagnetism information，and mileage information；and it can also receive remote controls and executive accurate movement，and provides a valid experimental platform for