Research on SINS/GPS Integrated Navigation System for Space Maneuvering Platform
|School||Harbin Institute of Technology|
|Keywords||SINS Global Positioning System Star sensor SINS / GPS Integrated Navigation System Kalman filter|
Strapdown inertial navigation system (SINS, Strap-down Inertial Navigation System), global positioning systems ( GPS , Global Positioning System ) , star sensor (Star Sensor) integrated navigation system is integrated SINS autonomy and GPS precision advantages Star sensitive gesture accumulation of errors and other advantages of modern navigation system , SINS / GPS integrated navigation system with high navigation accuracy , reliability , miniaturization and other characteristics of a high degree of autonomy and high-precision navigation program , while gyro with the Stars the sensitive joint attitude integrated navigation program is a high-precision attitude determination system ideal solution . Based on pseudorange , pseudorange rate SINS / GPS to closely integrated navigation system based on the velocity relative to the position of the integrated navigation system has higher precision of navigation , better robustness , anti-interference . Thesis research include: the principle of SINS , discuss the mechanical choreography and error of the the SINS system in the ground -fixed coordinate system . On the basis of the analysis of the principle , the establishment of a trajectory simulator , gyroscope and accelerometer emulator and using Matlab / Simulink simulation platform structures SINS . Simulation under different conditions of the initial alignment accuracy of SINS . The closely integrated navigation system Kalman filtering model , the use of the STK satellite simulation software to establish the constellation of GPS satellites , the optimum GDOP by the judgment of the visible stars and to calculate the satellite navigation constellation achieve motor state space mobile platforms state as well as non-motorized navigation tasks . SINS / GPS integrated navigation system by comparison SINS of SINS / GPS integrated navigation system , indicating improved navigation accuracy to meet the navigation requirements . There for SINS / GPS integrated navigation system heading accuracy is not high , heading error estimated convergence slower and the estimated effect of the Z-axis gyro drift so poor , the thesis proposes own gyro SINS instrument and the star sensor attitude determination joint , through the design of the extended Kalman filter algorithm , so that the advantages of the star sensor and gyro get to play , to achieve high precision spacecraft attitude determination system requirements .