GPS在小型无人机导航定位中的应用研究
|
摘要
小型无人机在军事和民用领域都有着广泛的应用,长期以来一直是国内外许多科研机构重要的研究项目。导航与定位系统在小型无人机自主飞行中占有重要的地位。本文侧重于小型无人机导航定位坐标转换算法与组合导航系统的研究。
限于小型无人机对导航器件的体积、重量和成本的要求,用于大型无人机的导航方法难以在小型无人机上使用。本文以小型无人机为应用对象,在充分考虑小型无人机特点及其导航定位需求的基础上,研究了全球定位系统GPS在其导航定位中的应用。
首先,针对利用GPS信息导航所需的坐标转换算法问题进行了研究。根据小型无人机导航定位的需求,将实际的小型无人机导航用到的坐标转换模型作了合理的简化,得到了实时动态定位的坐标转换模型,并对其有效性和适用性进行了论证。
其次,针对GPS和MIMU导航定位存在的不足,进行了小型无人机GPS/MIMU组合导航系统研究。在分析GPS/MIMU组合模式的基础上,采用卡尔曼滤波算法进行数据融合,建立了集中式卡尔曼滤波的状态方程和量测方程,设计了一个基于位置／速度综合的GPS/MIMU组合导航系统方案。
再次,基于MATLAB7.0对利用卡尔曼滤波算法设计的GPS/MIMU组合系统进行了仿真。仿真结果表明,采用卡尔曼滤波器的GPS/MIMU组合系统,经开环输出校正后,在精度和可靠性方面,较单一的导航系统有明显的改善,可有效抑制MIMU误差发散,提高长期导航精度。
最后,对全文进行了总结,并就无人机导航定位系统的发展趋势和进一步的研究方向作出展望。
Mini-UAV (Mini Unmanned Aerial Vehiele) which is widely applied both in military and civilian areas, has become one of the most important research subjects in many scientific research institutions for a long time all over the word. Navigation and positioning systems for Mini-UAV play an important part in the autonomous flihgt. The coordinate transformation algorithms and the integrated navigation system are mainly studied for Mini-UAV in the thesis.
As Mini-UAV has a strict limitation for navigation instruments on volume, weight and cost, the routine navigation methods for large-scale planes are impossible to apply to Mini-UAV. Considering the characteristics of Mini-UAV, we studied the application of GPS to its navigation and positioning system.
First of all, the coordinate transformation algorithms for GPS navigation and positioning are studied. In accordance with the needs of Mini-UAV navigation and positioning, a reasonable simplification is made to the coordinate transformation model of Mini-UAV navigation and the real-time dynamic positioning coordinate transformation model is presented. Also, the validity and practicality are analyzed by using the numerical examples.
Secondly, shortcomings for navigation and positioning with GPS or MIMU, a research on Mini-UAV GPS/MIMU integrated navigation system is carried out. Based on the analysis of integrate models of GPS/MIMU, Kalman filter algorithm is used for data integration, and a centralized Kalman filter state equation and measurement equation are established. Then the GPS/MIMU integrated navigation system based on position-velocity is designed.
Thirdly, the simulation analysis to GPS/MIMU is performed with MATLAB7.0. The simulation results show that the GPS/MIMU integrated system with Kalman filter can restrain the divergence and improve the long-term navigation accuracy by output correction. At the same time, the integrated navigation system can give a better performance on accuracy and reliability.
Finally, a summing-up for the work in this thesis is completed. The expectation to the development of UAV navigation and positioning system in future and the further research problems are summarized.
限于小型无人机对导航器件的体积、重量和成本的要求,用于大型无人机的导航方法难以在小型无人机上使用。本文以小型无人机为应用对象,在充分考虑小型无人机特点及其导航定位需求的基础上,研究了全球定位系统GPS在其导航定位中的应用。
首先,针对利用GPS信息导航所需的坐标转换算法问题进行了研究。根据小型无人机导航定位的需求,将实际的小型无人机导航用到的坐标转换模型作了合理的简化,得到了实时动态定位的坐标转换模型,并对其有效性和适用性进行了论证。
其次,针对GPS和MIMU导航定位存在的不足,进行了小型无人机GPS/MIMU组合导航系统研究。在分析GPS/MIMU组合模式的基础上,采用卡尔曼滤波算法进行数据融合,建立了集中式卡尔曼滤波的状态方程和量测方程,设计了一个基于位置／速度综合的GPS/MIMU组合导航系统方案。
再次,基于MATLAB7.0对利用卡尔曼滤波算法设计的GPS/MIMU组合系统进行了仿真。仿真结果表明,采用卡尔曼滤波器的GPS/MIMU组合系统,经开环输出校正后,在精度和可靠性方面,较单一的导航系统有明显的改善,可有效抑制MIMU误差发散,提高长期导航精度。
最后,对全文进行了总结,并就无人机导航定位系统的发展趋势和进一步的研究方向作出展望。
Mini-UAV (Mini Unmanned Aerial Vehiele) which is widely applied both in military and civilian areas, has become one of the most important research subjects in many scientific research institutions for a long time all over the word. Navigation and positioning systems for Mini-UAV play an important part in the autonomous flihgt. The coordinate transformation algorithms and the integrated navigation system are mainly studied for Mini-UAV in the thesis.
As Mini-UAV has a strict limitation for navigation instruments on volume, weight and cost, the routine navigation methods for large-scale planes are impossible to apply to Mini-UAV. Considering the characteristics of Mini-UAV, we studied the application of GPS to its navigation and positioning system.
First of all, the coordinate transformation algorithms for GPS navigation and positioning are studied. In accordance with the needs of Mini-UAV navigation and positioning, a reasonable simplification is made to the coordinate transformation model of Mini-UAV navigation and the real-time dynamic positioning coordinate transformation model is presented. Also, the validity and practicality are analyzed by using the numerical examples.
Secondly, shortcomings for navigation and positioning with GPS or MIMU, a research on Mini-UAV GPS/MIMU integrated navigation system is carried out. Based on the analysis of integrate models of GPS/MIMU, Kalman filter algorithm is used for data integration, and a centralized Kalman filter state equation and measurement equation are established. Then the GPS/MIMU integrated navigation system based on position-velocity is designed.
Thirdly, the simulation analysis to GPS/MIMU is performed with MATLAB7.0. The simulation results show that the GPS/MIMU integrated system with Kalman filter can restrain the divergence and improve the long-term navigation accuracy by output correction. At the same time, the integrated navigation system can give a better performance on accuracy and reliability.
Finally, a summing-up for the work in this thesis is completed. The expectation to the development of UAV navigation and positioning system in future and the further research problems are summarized.
引文
1.袁建平,罗建军,岳晓奎,方群.卫星导航原理与应用[M],北京：中国宇航出版社,2003.
2. Pachter M, Chandler P R. Challenges of autonomous control [J], IEEE Control System Magazine,1998,18(4):92-97.
3. Passion K M. Intelligent controlof autonomous system [J], IEEE Spectrum,1995,32(6): 55-62.
4.徐正荣.无人战斗机论述[J],飞机设计,2002,4(3)：79-80.
5.宋玉华,张利萍.21世纪无人机关键技术[J],现代防御技术,2004,32(5)：30-35.
6.冯琦,周德云.军用无人机发展趋势[J],电光与控制,2003,10(1)：9-13.
7.胡琪.无人机的未来发展之路[J],环球军事,2007(10)：38-39.
8.王裕安.小型无人机发展动向和对策[J],轻兵器,2003(12)：17-20.
9.徐文.小型和微型无人机发展现状及其装备情况[J],飞航导弹,2003(11)：20-25.
10. Siebert G. The impact of expected satellite availability on global positioning system (GPS) accuracy [J], Fourth International Conference,1988,178-180.
11. Van Dyke K L. The world after SA:benefits to GPS integrity [J], IEEE Position Location and Navigation Symposium,2000,387-394.
12.王英钧.地形辅助导航综述[J],航空电子技术,2003,90(1)：24-25.
13.倪金生,董宝青,关小平.导航定位技术理论与实践[M],北京：电子工业出版社,2007.
14.蒋庆仙.关于MEMS惯性传感器的发展及在组合导航中的应用前景[J],测绘通报,2006(9)：5-8.
15. Bernstein J. An Overview of MEMS inertial sensing technology [J], Sensors,2003, 4(2):11-13.
16.付梦印,邓志红,张继伟Kalman滤波理论及其在导航系统中的应用[M],北京：科学出版社,2003.
17. Grey Welch, Gary Bishop. An Introduction to the Kalman Filter [J], UNC-Chapel, TR95-041,2004(4).
18.刘基余.GPS卫星导航定位原理与方法[M],北京：科学出版社,2008.
19.徐绍铨,张华海,杨志强.GPS测量原理及其应用[M],武汉：武汉大学出版社,2004.
20.胡稳才,张杏谷.全球定位系统的几何精度因子[J],大连海事大学学报,2003,28(4)：42-44.
21.蔡昌盛,李征航.SA取消前后GPS单点定位精度对比分析[J],测绘信息与工程,2002,27(3)：24-25.
22.王解先,王军.WGS-84与北京54坐标的转换问题[J],大地测量与地球动力学,2003,23(3)：70-73.
23.罗德安,廖丽琼.一种车载GPS系统坐标转换公式及其应用[J],西南交通大学学报,2001,36(4)：365-368.
24.龚真春,宋执环,李平.超小型无人机GPS导航中的坐标转换[J],兵工自动化,2005,24(4)：29-30.
25.郭春梅,马艳敏,王岩飞.IMU/GPS组合导航中坐标转换问题的研究[J],宇航计测技术,2007,27(1)：6-10.
26.孔祥元,郭际明.大地测量学基础[M],武汉：武汉大学出版社,2001.
27.李艳,周旗,翁湘英.小型无人机GPS/航程推算组合导航系统研究[J],西北工业大学学报,1993,11(4)：419-423.
28.王惠南.GPS导航原理与应用[M],北京：科学出版社,2003.
29.张雪.GPS在MINS/GPS组合导航中的应用研究[D],南京东南大学,2006.
30. Chang-Sun Yoo, Iee-Ki Ahn. Low cost GPS/INS sensor fusion system for UAV navigation [J], Digiatl Avionies Systems Conference,2003(10):12-16.
31. Jonathan Bernstein. An Overview of MEMS Inertial Sensing Technology [J], Sensors, 2003(2):3-5.
32.秦永元.惯性导航[M],北京：科技出版社,2006.
33.屈耀红.小型无人机航迹规划及组合导航关键技术研究[D],西安西北工业大学,2006.
34.钱华明,雷艳敏,谢常锁.组合导航系统几种滤波方法的分析比较及其性能评价[J],中国惯性技术学报,2006,14(6)：95-99.
35.王惠南.采用卡尔曼滤波器的GPS/INS姿态组合系统的研究[J],中国惯性技术学报,2000,8(3)：1-7.
36. Ananthasayanam M R. A Relook at the Concepts and Competeance of the Kalman Filter [J],42nd AIAA Aerospace Sciences Meeting and Exhibit,2004:1-11.
37. Sohne W, Heinez O, Groten E. Integrated INS/GPS system for high Precision navigation applications [J], IEEE Position Location and Navigation Symposium, April 1994.310-313.
38.Honghui Qi, Moore J B. Direct Kalman filtering approach for GPS/INS integration [J], IEEE Transactions on Aerospace and Electronic Systems,2002,38(2):687-693.
39. Yanjuan Yang, Weifeng Tian, Zhihua Jin. Study on a novel marine INS/GPS integrated navigation technology [J], Seventh International Conference on Control, Automation, Robotics and Vision, Singapore,2002:1563-1567.
40. Xiufeng He, Yongqi Chen. A reduced-order model for integrated GPS/INS [J], Aerospace and Electronic Systems Magazine, IEEE,1998,13(3):41-45.
2. Pachter M, Chandler P R. Challenges of autonomous control [J], IEEE Control System Magazine,1998,18(4):92-97.
3. Passion K M. Intelligent controlof autonomous system [J], IEEE Spectrum,1995,32(6): 55-62.
4.徐正荣.无人战斗机论述[J],飞机设计,2002,4(3)：79-80.
5.宋玉华,张利萍.21世纪无人机关键技术[J],现代防御技术,2004,32(5)：30-35.
6.冯琦,周德云.军用无人机发展趋势[J],电光与控制,2003,10(1)：9-13.
7.胡琪.无人机的未来发展之路[J],环球军事,2007(10)：38-39.
8.王裕安.小型无人机发展动向和对策[J],轻兵器,2003(12)：17-20.
9.徐文.小型和微型无人机发展现状及其装备情况[J],飞航导弹,2003(11)：20-25.
10. Siebert G. The impact of expected satellite availability on global positioning system (GPS) accuracy [J], Fourth International Conference,1988,178-180.
11. Van Dyke K L. The world after SA:benefits to GPS integrity [J], IEEE Position Location and Navigation Symposium,2000,387-394.
12.王英钧.地形辅助导航综述[J],航空电子技术,2003,90(1)：24-25.
13.倪金生,董宝青,关小平.导航定位技术理论与实践[M],北京：电子工业出版社,2007.
14.蒋庆仙.关于MEMS惯性传感器的发展及在组合导航中的应用前景[J],测绘通报,2006(9)：5-8.
15. Bernstein J. An Overview of MEMS inertial sensing technology [J], Sensors,2003, 4(2):11-13.
16.付梦印,邓志红,张继伟Kalman滤波理论及其在导航系统中的应用[M],北京：科学出版社,2003.
17. Grey Welch, Gary Bishop. An Introduction to the Kalman Filter [J], UNC-Chapel, TR95-041,2004(4).
18.刘基余.GPS卫星导航定位原理与方法[M],北京：科学出版社,2008.
19.徐绍铨,张华海,杨志强.GPS测量原理及其应用[M],武汉：武汉大学出版社,2004.
20.胡稳才,张杏谷.全球定位系统的几何精度因子[J],大连海事大学学报,2003,28(4)：42-44.
21.蔡昌盛,李征航.SA取消前后GPS单点定位精度对比分析[J],测绘信息与工程,2002,27(3)：24-25.
22.王解先,王军.WGS-84与北京54坐标的转换问题[J],大地测量与地球动力学,2003,23(3)：70-73.
23.罗德安,廖丽琼.一种车载GPS系统坐标转换公式及其应用[J],西南交通大学学报,2001,36(4)：365-368.
24.龚真春,宋执环,李平.超小型无人机GPS导航中的坐标转换[J],兵工自动化,2005,24(4)：29-30.
25.郭春梅,马艳敏,王岩飞.IMU/GPS组合导航中坐标转换问题的研究[J],宇航计测技术,2007,27(1)：6-10.
26.孔祥元,郭际明.大地测量学基础[M],武汉：武汉大学出版社,2001.
27.李艳,周旗,翁湘英.小型无人机GPS/航程推算组合导航系统研究[J],西北工业大学学报,1993,11(4)：419-423.
28.王惠南.GPS导航原理与应用[M],北京：科学出版社,2003.
29.张雪.GPS在MINS/GPS组合导航中的应用研究[D],南京东南大学,2006.
30. Chang-Sun Yoo, Iee-Ki Ahn. Low cost GPS/INS sensor fusion system for UAV navigation [J], Digiatl Avionies Systems Conference,2003(10):12-16.
31. Jonathan Bernstein. An Overview of MEMS Inertial Sensing Technology [J], Sensors, 2003(2):3-5.
32.秦永元.惯性导航[M],北京：科技出版社,2006.
33.屈耀红.小型无人机航迹规划及组合导航关键技术研究[D],西安西北工业大学,2006.
34.钱华明,雷艳敏,谢常锁.组合导航系统几种滤波方法的分析比较及其性能评价[J],中国惯性技术学报,2006,14(6)：95-99.
35.王惠南.采用卡尔曼滤波器的GPS/INS姿态组合系统的研究[J],中国惯性技术学报,2000,8(3)：1-7.
36. Ananthasayanam M R. A Relook at the Concepts and Competeance of the Kalman Filter [J],42nd AIAA Aerospace Sciences Meeting and Exhibit,2004:1-11.
37. Sohne W, Heinez O, Groten E. Integrated INS/GPS system for high Precision navigation applications [J], IEEE Position Location and Navigation Symposium, April 1994.310-313.
38.Honghui Qi, Moore J B. Direct Kalman filtering approach for GPS/INS integration [J], IEEE Transactions on Aerospace and Electronic Systems,2002,38(2):687-693.
39. Yanjuan Yang, Weifeng Tian, Zhihua Jin. Study on a novel marine INS/GPS integrated navigation technology [J], Seventh International Conference on Control, Automation, Robotics and Vision, Singapore,2002:1563-1567.
40. Xiufeng He, Yongqi Chen. A reduced-order model for integrated GPS/INS [J], Aerospace and Electronic Systems Magazine, IEEE,1998,13(3):41-45.