摘要
针对舰载小型化导航设备功耗低、体积小、可靠性好、精度高的性能需求,研制出基于嵌入式DSP与FPGA架构的SINS/GNSS舰载小型化组合导航系统平台。首先,在系统硬件方面,阐述了系统的总体设计方案,构建了嵌入式导航计算机平台,介绍了系统所采用的光纤陀螺、石英挠性加速度计和GNSS接收机的性能指标。其次,在导航算法方面,介绍了舰载小型化SINS/GNSS紧组合导航系统的工作原理,分析了捷联惯性导航系统和GNSS的噪声误差模型,设计了基于SINS/GNSS的紧组合工作模式下的扩展卡尔曼滤波器。最后,进行了样机车载验证实验。实验结果表明:该组合导航系统水平姿态误差小于0.02°(1σ),航向误差小于0.1°(1σ),水平位置定位误差小于2 m(1σ),能够满足舰载小型化导航设备的低功耗、高可靠性、高精度等需求。
In order to meet the performance requirements of low power consumption, small size, high reliability and high accuracy of the marine navigation equipment, an embedded DSP and FPGA structure-based marine SINS/GNSS integrated navigation system was studied and designed. Firstly, in terms of hardware, the system general hardware was expounded. The performance index of FOG, quartz flexible accelerometer and GNSS receiver which were used in the system was introduced. Secondly, in terms of navigation algorithm, the working principle of marine-based SINS/GNSS integrated navigation system was introduced, and the error model of inertial navigation system and GNSS was analyzed. The extended Kalman filter in the SINS/GNSS tight combination mode was designed. Finally, the experiment of prototype vehicle verification was made. The results of vehicle experiment show that the horizontal attitude error of the integrated navigation system is less than 0.02°(1σ), the heading error is less than 0.1°(1σ) and the positioning error is less than 2 m(1σ), which meet the marine-based equipment’s navigational requirements such as low power consumption, high reliability and high precision.
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2013年第6期775-780,共6页
Journal of Chinese Inertial Technology
基金
国家自然科学基金(51175082
61203192
61273056
51375088)
关键词
组合导航
捷联惯性导航
全球定位系统
导航计算机
卡尔曼滤波
Computer hardware
Digital signal processing
Experiments
Hardware
Kalman filters
Navigation systems
Quartz
