舰载小型化SINS/GNSS紧组合导航系统设计

摘要

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.%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。