摘要
论文的研究目的是针对微硅惯性器件的特点,分析其误差机理,建立误差模型,探讨微惯导系统在动态环境下进行随机误差实时补偿的方法。其课题背景是设计、研制实用的MIMU/GNSS组合导航系统。
由于微硅惯性器件的制造工艺所限,其精度普遍不高,而通过对MIMU的误差进行分析、补偿,可以在不改变系统硬件的情况下,提高MIMU的精度。基于微惯性导航系统的误差分析和补偿的研究是提高系统导航精度的一个重要方法,因此对微惯性导航系统的误差进行分析、建模,并结合实际使用条件确定切实可行的补偿方法具有重要的意义。
在课题进展的不同阶段,重点针对BEI公司的MMQ50系统及清华大学研制的MIMU系统两种型号的微型捷联惯导系统进行了大量实验研究,积累了大量实验数据,论文的写作是以这些实验数据为基础的。
本文首先对国内外MIMU的应用研究情况进行了资料收集和查新;系统分析了微惯导系统误差对导航精度的影响,并对捷联惯导系统的误差传播方程进行了理论推导和数学仿真;对捷联惯导系统的导航算法以及MIMU/GPS组合导航算法进行了推导、实现及试验验证;针对微硅惯性器件的结构原理分析其误差特性,建立误差模型,确定测试标定方法,给出了实际标定结果。
论文的第五、六、七章是作者研究的重点核心部分,首先利用时序分析的理论和方法对微硅惯性器件的静态测试数据进行预处理,建立ARMA模型,根据模型递推方程和卡尔曼滤波对随机误差进行预估和滤波,并用实测数据验证预估滤波效果;然后采用小波分析的理论和方法有效地将实际动态测试数据中的真实信号与随机误差进行分离,并用实测数据验证分离效果,为动态环境下进行随机误差的实时补偿提供理论基础。第七章是微惯导系统误差补偿技术的试验研究和实际应用,以试验数据和图表为根据,为MIMU系统的工程应用提供行之有效的方法。最后对论文的研究工作和创新点进行了系统的总结。
The research purpose of this dissertation is to analyze the error mechanism and to build the error model based on the character of the MIMU system. The main content is to discuss and explore the real time compensation method for the random error of the MIMU system which being used in dynamic environment. The background project of the dissertation is to design and develop a practical MIMU/GNSS integrated navigation system.
The precision of the silicon micromechanical inertial sensor are lower in general because of its manufacture technology. If the MIMU error is analyzed and compensated, the MIMU precision will be improved without changing hardware system. It is an important method to improve precision of navigation system based on the error analysis and compensation of the MIMU. It has significant meaning to analyze and build error model of MIMU, and to determine practical compensation method according to its used environment.
At the different stage of the project research, we do a lot of experiments for BEI Company’s MMQ50 system and the MIMU system produced by Tsinghua University, so we get plenty of experiment data which is the fundamental of this dissertation.
In chapter 1, the reference material and the new information of the MIMU application domestic and overseas are collected; In chapter 2, the influence caused by MIMU error to navigation precision is analyzed systematically, the error broadcasting equation of strapdown inertial system is deduced theoretically; In chapter 2, it also deduces the strapdown inertial system navigation algorithm and MIMU/GPS integrated navigation algorithm, the algorithm is realized and tested true by experiment; In chapter 4, the error character is analyzed and the error model is built based on the silicon micromechanical inertial sensor structure and principle; The measurement and calibration method is determined, and the calibration result is given.
The chapter 5,6,7 are the kernel parts of the author’s study. First, it uses Time Series Analysis theory to pre-processing the static measurement data of MIMU, builds ARMA model, predicts and filters the random error based on the model recurrence formula and Kalman filter. The predicting and filtering effect is tested by experimental data. Then, it uses Wavelet Analysis theory to separate real motion signal and random error from the dynamic measurement data effectively. The separation effect is also tested by experimental data. This method is the fundamental to random error real time compensation in dynamic environment. In chapter 7, the experiment research and practical application about the MIMU error compensation technology are discussed. It uses experimental data and graph to supply a practical method for the MIMU’s engineering application. At last, it summarizes the research content and creative point systematically.
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