地形辅助/惯性/GPS组合导航系统的研究与可视化仿真
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摘要
为了适应现代化航行体对导航系统在精度、可靠性、智能化和可视化方面越来越高的要求，本学位论文主要对地形辅助／惯性／GPS组合导航系统进行研究和可视化仿真，在系统地阐述三组合系统理论知识的同时，利用高级编程语言对其进行可视化仿真，实现组合系统的可视化功能；本文还尝试把模糊逻辑系统与卡尔曼滤波器结合起来构成新的自适应滤波器运用到组合系统中，从而提高系统的精度和可靠性。
全文主要分为理论研究和可视化仿真两部分内容，完成的主要工作如下：
(1) 从导航原理、数学模型等方面对惯性／GPS和地形辅助惯导系统进行研究；对基于高程匹配的地形辅助导航技术进行深层剖析；探讨了联合滤波算法在组合导航系统中的应用。本章为后面研究提供了理论依据。
(2) 利用多种高级语言对三组合导航系统进行了可视化仿真，设计并制作出仿真软件。具体描述了软件的设计思想，界面结构及特点，各个导航仿真系统的相关理论、设计思想及程序流程图，分别介绍了软件各部分模块实现的具体功能、方法技巧以及操作情况。最后对本软件的设计结果作出了评价，基本上实现设计初衷。
(3) 具有创新性地研究出一种模糊自适应卡尔曼滤波技术，通过系统仿真证明该算法是行之有效的。
本文希望能为地形辅助／惯性／GPS组合导航系统的研究有所贡献，为进一步构成新型可视化智能融合导航系统做一个铺垫。
To satisfy the higher requirement of modern aircraft to the navigation systems, this dissertation principally lucubrate the TAN/INS/GPS integrated navigation system. In this paper, some representative views are presented and the key techniques of the multi-sensor navigation system are applied, such as the data fusion and the Federated Filter, to the above system. When studying in theory, visual simulation of the TAN/INS/GPS system has been done using advanced programming languages. The author attempts to present the fuzzy adaptive Kalman Filtering technique and apply it to the SINS/GPS system.
The whole paper has two parts, that is, theoretical study and visual simulation. The contents and main contributions are summarized as follows:
(1) Respectively studies on the SINS/GPS and TAN in the way of principle, mathematical model and performance; In depth researches the Terrain-Aided navigation technique based on elevation matching; Studies the application of Federated Filter in the TAN/INS/GPS system.
(2) Visual simulation of the TAN/INS/GPS system has been done using advanced programming languages and the software has been designed out.
(3) Presents an innovative technique of fuzzy adaptive Kalman Filtering and testifies it effective by simulation.
I hope new and effective methods to be given here and hope this paper to contribute to the new visual intelligent fault-tolerant navigation system.
全文主要分为理论研究和可视化仿真两部分内容，完成的主要工作如下：
(1) 从导航原理、数学模型等方面对惯性／GPS和地形辅助惯导系统进行研究；对基于高程匹配的地形辅助导航技术进行深层剖析；探讨了联合滤波算法在组合导航系统中的应用。本章为后面研究提供了理论依据。
(2) 利用多种高级语言对三组合导航系统进行了可视化仿真，设计并制作出仿真软件。具体描述了软件的设计思想，界面结构及特点，各个导航仿真系统的相关理论、设计思想及程序流程图，分别介绍了软件各部分模块实现的具体功能、方法技巧以及操作情况。最后对本软件的设计结果作出了评价，基本上实现设计初衷。
(3) 具有创新性地研究出一种模糊自适应卡尔曼滤波技术，通过系统仿真证明该算法是行之有效的。
本文希望能为地形辅助／惯性／GPS组合导航系统的研究有所贡献，为进一步构成新型可视化智能融合导航系统做一个铺垫。
To satisfy the higher requirement of modern aircraft to the navigation systems, this dissertation principally lucubrate the TAN/INS/GPS integrated navigation system. In this paper, some representative views are presented and the key techniques of the multi-sensor navigation system are applied, such as the data fusion and the Federated Filter, to the above system. When studying in theory, visual simulation of the TAN/INS/GPS system has been done using advanced programming languages. The author attempts to present the fuzzy adaptive Kalman Filtering technique and apply it to the SINS/GPS system.
The whole paper has two parts, that is, theoretical study and visual simulation. The contents and main contributions are summarized as follows:
(1) Respectively studies on the SINS/GPS and TAN in the way of principle, mathematical model and performance; In depth researches the Terrain-Aided navigation technique based on elevation matching; Studies the application of Federated Filter in the TAN/INS/GPS system.
(2) Visual simulation of the TAN/INS/GPS system has been done using advanced programming languages and the software has been designed out.
(3) Presents an innovative technique of fuzzy adaptive Kalman Filtering and testifies it effective by simulation.
I hope new and effective methods to be given here and hope this paper to contribute to the new visual intelligent fault-tolerant navigation system.
引文
[1] 袁信，俞济祥，陈哲，导航系统，北京：航空工业出版社，1993年
[2] Ronald D. Andreas, Larry D. Hostetler, Richard C. Beckmann, Continuous Kalman Updating of an Inertial Navigation System Using Terrain Measurements, 1978, IEEE NAECON: 1263-1270
[3] 刘建业，袁信，地形辅助/GPS/惯性导航系统研究，导航，No．3，1993
[4] D. D. Boozer, M. K. Lau, J. R. Fellerhoff, The AFTI/F16 Terrain-Aided Navigation System, 1985, IEEE NAECON: 351-357
[5] 王宇飞，信息融合技术在巡航导弹组合导航系统中的应用研究，哈尔滨工业大学：博士学位论文，2000
[6] Brown, A.K., Civil Aviation Integrity Requirements for the Global Positioning System, Navigation, 1988, 35(1):23-40
[7] Gregory L. Mealy, Wang Tang, A Recursive Terrain Height Correlation System Using Multiple Model Estimation Techniques, 1982, AIAA Guidance and Control Conf.: 105-112
[8] Z. Chen, P. J. Yu, H. Yang, BUAA Inertial Terrain-Aided Navigation (BITAN) Algorithm, 北航技术报告，1992
[9] Neil Priestley, Terrain Referenced Navigation, 1990, IEEE PLANS: 482-489
[10] W. E. Longenbaker, Terrain-Aided Navigation of an Unpowered Tactical Missile Using Autopilot-Grade Sensors, 1982, AIAA Guidance and Control Conf.: 71-79
[11] Jeff Hollowell, HELI/SITAN: A Terrain Referenced Navigation Algorithm for Helicopters, 1990, IEEE PLANS: 616-625
[12] 孙云枫，局部区域的数字地球技术在低空突防地面站系统中的应用，南京航空航天大小：硕士学位论文，1997
[13] 彭嘉雄，张天序，地形统计模型研究，宇航学报，No．7，1984
[14] 李德华，杨灿，胡昌赤，地形匹配区选取准则研究，华中理工大学学报，1996，24(2)
[15] 苏康，关世义，在不同地形条件下的地形辅助导航系统定位精度评估，宇航学报，Vol．19，No．1，Jan，1998
[16] 陈哲，赵昌顺，地形随机线性化的一致加权自适应拟合技术，中国惯性技术学报，Vol．3，No．4，1995
[17] 孙建峰，申功勋，导航传感器系统的信息融合，中国惯性技术学报，No．4，1995
[18] M. F. Hassan, G. Salut, M. G. Singh, A. Title, A Decentralized Computational Algorithm for the Global Kalman Filter, IEEE Transactions On Automatic Control, 1978, Vol. AC-23(2):262～267
[19] D. Willer, C.B. Chang, K.P. Dunn, Kalman Filter Algorithms For A Multi-sensor System, Proceeding of IEEE International Conference on Decision and Control, 1976: 570～574
[20] B. Friedland, Treatment of Bias in Recursive Filtering, IEEE Transactions On Automatic Control, Vol AC-14, Aug 1969
[21] M. B. Ignagni, An Alternate Derivation and Extension of Friedland's Two-Stage Kalman Estimator, IEEE Transactions On Automatic Control, Vol.26, No.3, June 1981
[22] Neal A. Carlson, Federated Filter for Fault-Tolerant Integrated Navigation Systems, Proceedings of the 1988 Position Location And Navigation Systems, USA, 1988: 110～119
[23] Neal A. Carlson, Federated Square Root Filter for Decentralized Parallel Processes, IEEE Transactions on Aerospace and Electronic Systems, Vol.26, No.3, May 1990
[24] 王富嘉，陈哲，INS/GPS/TAN系统中的联邦卡尔曼滤波信息融合方法，航空学报，Vol．19，No．7，1998
[25] Wang Yufei, Huang Xianlin, Hu Hengzhang. Study on Federated Architecture for GPS/INS/TRN Integrated Navigation System. Journal of Systems Engineering and Electronics, Vol. 11, No. 1, 2000, P75-80
[26] F. M. Ham. Observability, Eigenvalues and Kalman Filtering. IEEE Transactions on Aerospace and Electronic Systems, 1983,19(7): 96～99
[27] J.Z. Sasiadek,Q. Wang,M.B. Zeremba. Fuzzy Adaptive Kalman Filtering For INS/GPS Data Fusion. Proceedings of the 15th IEEE International Symposium on Intelligent Control, Rio, Patras, GREECE, 17-19, July, 2000,P181-186
[28] 王磊，王为民．模糊控制理论及应用．北京：国防工业出版社，1997年
[29] 周东华，叶银忠．现代故障诊断与容错控制．北京：清华大学出版社，2000年
[30] Jon Bates, Tim Tompkins著，何健辉，董方鹏等译，实用Visual C++ 6.0教程，北京：清华大学出版社，2000
[31] 林岚，周云波，杨玉星，林家瑞，MATCOM: MATLAB与C++结合的有效途径
[32] 楼顺天，陈生潭，雷虎民著，MATLAB 5.x程序设计语言，西安：西安科技大学出版社，2000
[33] MIDEVA, MATCOM & Visual MATCOM User's Guide, Mathtools公司，June 1999
[34] 夏临闽，胡仁杰，王玲，一种新的上位机数据显示方法，工业控制计算机，Vol．14，No．6，2001
[35] 郑莉，董渊，傅仕星著，C++语言程序设计，北京：清华大学出版社，2000
[36] 李学恩，房建成，申功勋，可视化智能融合导航系统，中国惯性技术学报，Vol6，No．4，1998
[2] Ronald D. Andreas, Larry D. Hostetler, Richard C. Beckmann, Continuous Kalman Updating of an Inertial Navigation System Using Terrain Measurements, 1978, IEEE NAECON: 1263-1270
[3] 刘建业，袁信，地形辅助/GPS/惯性导航系统研究，导航，No．3，1993
[4] D. D. Boozer, M. K. Lau, J. R. Fellerhoff, The AFTI/F16 Terrain-Aided Navigation System, 1985, IEEE NAECON: 351-357
[5] 王宇飞，信息融合技术在巡航导弹组合导航系统中的应用研究，哈尔滨工业大学：博士学位论文，2000
[6] Brown, A.K., Civil Aviation Integrity Requirements for the Global Positioning System, Navigation, 1988, 35(1):23-40
[7] Gregory L. Mealy, Wang Tang, A Recursive Terrain Height Correlation System Using Multiple Model Estimation Techniques, 1982, AIAA Guidance and Control Conf.: 105-112
[8] Z. Chen, P. J. Yu, H. Yang, BUAA Inertial Terrain-Aided Navigation (BITAN) Algorithm, 北航技术报告，1992
[9] Neil Priestley, Terrain Referenced Navigation, 1990, IEEE PLANS: 482-489
[10] W. E. Longenbaker, Terrain-Aided Navigation of an Unpowered Tactical Missile Using Autopilot-Grade Sensors, 1982, AIAA Guidance and Control Conf.: 71-79
[11] Jeff Hollowell, HELI/SITAN: A Terrain Referenced Navigation Algorithm for Helicopters, 1990, IEEE PLANS: 616-625
[12] 孙云枫，局部区域的数字地球技术在低空突防地面站系统中的应用，南京航空航天大小：硕士学位论文，1997
[13] 彭嘉雄，张天序，地形统计模型研究，宇航学报，No．7，1984
[14] 李德华，杨灿，胡昌赤，地形匹配区选取准则研究，华中理工大学学报，1996，24(2)
[15] 苏康，关世义，在不同地形条件下的地形辅助导航系统定位精度评估，宇航学报，Vol．19，No．1，Jan，1998
[16] 陈哲，赵昌顺，地形随机线性化的一致加权自适应拟合技术，中国惯性技术学报，Vol．3，No．4，1995
[17] 孙建峰，申功勋，导航传感器系统的信息融合，中国惯性技术学报，No．4，1995
[18] M. F. Hassan, G. Salut, M. G. Singh, A. Title, A Decentralized Computational Algorithm for the Global Kalman Filter, IEEE Transactions On Automatic Control, 1978, Vol. AC-23(2):262～267
[19] D. Willer, C.B. Chang, K.P. Dunn, Kalman Filter Algorithms For A Multi-sensor System, Proceeding of IEEE International Conference on Decision and Control, 1976: 570～574
[20] B. Friedland, Treatment of Bias in Recursive Filtering, IEEE Transactions On Automatic Control, Vol AC-14, Aug 1969
[21] M. B. Ignagni, An Alternate Derivation and Extension of Friedland's Two-Stage Kalman Estimator, IEEE Transactions On Automatic Control, Vol.26, No.3, June 1981
[22] Neal A. Carlson, Federated Filter for Fault-Tolerant Integrated Navigation Systems, Proceedings of the 1988 Position Location And Navigation Systems, USA, 1988: 110～119
[23] Neal A. Carlson, Federated Square Root Filter for Decentralized Parallel Processes, IEEE Transactions on Aerospace and Electronic Systems, Vol.26, No.3, May 1990
[24] 王富嘉，陈哲，INS/GPS/TAN系统中的联邦卡尔曼滤波信息融合方法，航空学报，Vol．19，No．7，1998
[25] Wang Yufei, Huang Xianlin, Hu Hengzhang. Study on Federated Architecture for GPS/INS/TRN Integrated Navigation System. Journal of Systems Engineering and Electronics, Vol. 11, No. 1, 2000, P75-80
[26] F. M. Ham. Observability, Eigenvalues and Kalman Filtering. IEEE Transactions on Aerospace and Electronic Systems, 1983,19(7): 96～99
[27] J.Z. Sasiadek,Q. Wang,M.B. Zeremba. Fuzzy Adaptive Kalman Filtering For INS/GPS Data Fusion. Proceedings of the 15th IEEE International Symposium on Intelligent Control, Rio, Patras, GREECE, 17-19, July, 2000,P181-186
[28] 王磊，王为民．模糊控制理论及应用．北京：国防工业出版社，1997年
[29] 周东华，叶银忠．现代故障诊断与容错控制．北京：清华大学出版社，2000年
[30] Jon Bates, Tim Tompkins著，何健辉，董方鹏等译，实用Visual C++ 6.0教程，北京：清华大学出版社，2000
[31] 林岚，周云波，杨玉星，林家瑞，MATCOM: MATLAB与C++结合的有效途径
[32] 楼顺天，陈生潭，雷虎民著，MATLAB 5.x程序设计语言，西安：西安科技大学出版社，2000
[33] MIDEVA, MATCOM & Visual MATCOM User's Guide, Mathtools公司，June 1999
[34] 夏临闽，胡仁杰，王玲，一种新的上位机数据显示方法，工业控制计算机，Vol．14，No．6，2001
[35] 郑莉，董渊，傅仕星著，C++语言程序设计，北京：清华大学出版社，2000
[36] 李学恩，房建成，申功勋，可视化智能融合导航系统，中国惯性技术学报，Vol6，No．4，1998
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