外文翻譯設計和捷聯(lián)慣導GPS組合導航系統(tǒng)的實驗研究

1、英 文 翻 譯系 別專 業(yè)班 級學生姓名學 號指導教師 design and experiment of sins/gps integrated navigation system abstractto meet the requirements of sins/gps integrated navigation system such as high accuracy, low power consumption and small size, an embedded navigation computer system based on dsp and fpga was designed.

2、 at first, the overall structure of the navigation computer system was demonstrated. the navigation computer hardware module was consists of two sub modules i.e., the navigation information processing sub module, and the data acquisition and communication sub module. secondly,kalman integrated filte

3、r scheme was designed and then system software work flow was introduced. finally, the prototype verified experiment was made. the experimental results showed that the system can effectively accomplish the missions of navigation sensor data acquisition, real-time navigation solution, running of kalma

4、n filter algorithm and peripheral equipment instruction fetch. the requirements of the navigation computer for sins/gps integrated navigation system can be totally met.index termsintegrated navigation, embedded computer,sins, gps, kalman filteri. introduction the sing/gps integrated navigation syste

5、m 1, 2consists of strap down inertial navigation system (sins)3 and global positioning system (gps) 4. the navigation computer is an integrated navigation system serves two functions (a) to complete a large number of real-time data processing operations, e.g., inertial measurement unit (imu) raw dat

6、a preprocessing, gps receiver message preprocessing, inertial navigation solution and integrated filtering operation; (b) to complete the task of data communication with external navigation sensors and navigation application equipments,e.g., acquisition of raw data of gyroscope, accelerometer and ot

7、her inertial sensors and gps receiver message,command reading of navigation application equipments and output of the navigation results5, 6. traditional navigation computers are mostly based onpc104 architecture 7 and have some shortcomings as follows. they usually have larger volume, higher power c

8、onsumption and complex operating system. there are always difficulties in hardware maintaining. the operational performances of a traditional navigation computer are limited to the cpu dominant frequency andthe real-time performance is relatively lower. thus, the traditional navigation computers are

9、 not suitable for the integrated navigation system 8. in this work, an embedded integrated navigation computer with digital signal processor (dsp) and field programmable gate array (fpga) was designed as the core architecture of an integrated navigation computer in order to reach the performances of

10、 high real-time, low power consumption and small volume. the navigation computer, imu and gps compose the prototype platform of a sins/gps integrated navigation system. a kalman filter 9, 10 for gps speed and position measurement was designed according to the characteristics of the sins/gps integrat

11、ed navigation system. the navigation accuracy of integrated navigation system cannot be guaranteed during gps outages. hence, the intelligent switch between integrated navigation mode and pure inertial navigation mode was designed in the working mode of the system to effectively avoid the abovementi

12、oned disadvantage.ii. design of navigation computer hardware navigation computer needs to complete navigation sensor data acquisition, real-time navigation solution,navigation results output, etc. according to the functions,the navigation computer system designed in this work consists of two sub mod

13、ules for navigation informationprocessing and data acquisition and communication. the navigation information processing sub module, and the data acquisition and communication sub module. the navigation data processing module is mainly composed of dsp, sdram, flash, clock circuit, bus driving circuit

14、 and fpga-implemented logic control circuit. the dsp mainly completes the various navigation algorithms; the sdram is mainly used to expand the memory space required for system operation; the flash is mainly used to expand the external rom and solidify the system program code; the main function of t

15、he clock circuit is to provide a stable clock reference for the navigation computer system; the bus driving circuit and the logic control circuit mainly coordinate the dsp chip to complete reading-writing of external memory data andi/o port. both strap down algorithm and integrated filtering algorit

16、hm, which have high computational complexity and high requirements on real-time performance, involve a large number of matrix operations and finite impulse response (fir) filters. the dsp is a new digital signal processor which can achieve real-time, fast and effective numerical operations. and dsp

17、has integrated internal integrated fir filters 11. when selecting navigation information processor, this design takes into account the factors such as power consumption, volume and cost, while in order to meet the requirements on real-time navigation operations of the integrated navigation system,an

18、d finally uses tms320c6713b (c6713b) chip of texas instruments (ti) as the core processor of the navigation computer. taking into account the factors such as power consumption, volume and cost, dsp was selected as the navigation information processor in this design. further, in order to meet the req

19、uirements on real-time navigation operations of the integrated navigation system, tms320c6713b (c6713b) chip of texas instruments(ti) was used as the core processor of the navigation computer. sysem software designin this design, the sins/gps integrated navigation system adopts the position and spee

20、d integrated mode.the filter uses the sins error equation as the state equation. the position and speed navigation information differences between the sins and gps as the filter measurement information, was used to correct the sins state vectors after kalman filtering to improve the navigation accur

21、acy. the simple integrated mode introduces the gps speed and position information and improves the redundancy of the navigation system. the system is capable of intelligent switching between the sins working mode and the sins/gps integrated working during gps outages for guarantying navigation accur

22、acy and facilitating engineering implementation. the linear state equation of the system is as follows: (1) east-north-up geographic coordinate is applied as navigation coordinate in the system. since the vertical channel of the sins system is unstable and has little compensation effect for the syst

23、em error, the vertical speed and position vectors are negligible in the state vectors of the filter. the state vectors of the filter are 12-dimensional. the state vector model of the system is as follows: (2) where,are the east and north speed errors of the navigation system, respectively; are the p

24、latform misalignment angles of the navigation system,respectively;are the latitude and longitude errors of the navigation system, respectively is the gyro drift;is the accelerometer bias. the noise vector of the system: (3)where, is the random white noise drift of the gyroscope; is the first order m

25、arkov process driving white noise of the gyroscope; is the random white noise drift of the accelerometer. conclusionthe paper presents a sins/gps integrated navigation computer system based on dsp and fpga structure. the design realizes the integrated navigation system embedded design, the design co

26、ncept fully embodies the real-time information processing and real-time control phase separation, information distributed parallel processing design thought, hardware and software combined to realize the systems target of high speed data acquisition and high speed information processing, satisfies t

27、he systems requirements of small volume, high precision, high real-time performance, low power consumption etc., which has practical engineering significance in the widely applications of integrated navigation system in low cost, low power consumption system areas.references 1 w. sun and f. sun, “no

28、vel approach to gps/sins integration for imu alignment,” journal of systemsengineering and electronics, vol. 22, no. 3, pp. 513-518,2012. 2 j. ali and m.r.u.b. mirza, “performance comparison among some nonlinear filters for a low cost sins/gps integrated solution,” nonlinear dynamics, vol. 61, no.3,

29、 pp.491-502, 2010. 3 d. han, c. xiong and h. liu, “a wavelet-based method for processing signal of fog in strap-down inertial system,” international journal of robotics & automation, vol. 24, no. 3, pp. 185-193,2009. 4 n. bulusu, j. heidemann and d. estrin,“gps-less low-cost outdoor localization

30、 for very small devices,” ieee personal communications, vol. 7, no. 5, pp. 28-34, 2000. 5 t. zhang and x.s. xu, “a new method of seamless land navigation for gps/ins integrated system, ”measurement, vol. 45, no. 4, pp. 691-701, 2012. 6 x.l. wang and y.f. li, “an innovative scheme for sins/gps ultra-

31、tight integration system with low-grade imu,” aerospace science and technology, vol. 23, no. 1,pp. 452-460, 2012. 7 y.s. sun, l. wan, y. gan, j.g. wang and c.m jiang, “design of motion control of dam safety inspection underwater vehicle,” journal of central south university, vol. 19, no. 6, pp.1522-

32、1529, 2012. 8j. yi, l. zhang, r. shu and j wang “initial alignment for sins based on low-cost imu,” journal of computers,vol.6, no. 6, pp. 1080-1085, 2011. 9 h.y. chen, j.d. wang and l.r. feng, “research on the dynamic data-driven application system architecture for flight delay,” journal of softwar

33、e, vol. 7, no. 2, pp. 263-268, 2012. 10 r.g. sheng, y. zhang and j. miao, “an improved location algorithm by extend square-root cubature kalman filter,” journal of computers, vol. 8, no. 2, pp.471-477, 2013. 設計和捷聯(lián)慣導/ gps組合導航系統(tǒng)的實驗研究 摘要：為了滿足sins / gps組合導航系統(tǒng)的需求，如高準確度，低功耗和小尺寸，基于dsp的嵌入式導航計算機系統(tǒng)和fpga的設計。首先

34、，導航計算機的整體結(jié)構(gòu)系統(tǒng)被證明。導航計算機硬件模塊是包含兩個子模塊，即，在導航信息處理子模塊，以及數(shù)據(jù)采集和通信子模塊。其次，卡爾曼濾波器集成方案的設計，然后系統(tǒng)軟件工作流程進行了介紹。最后，原型驗證實驗做。實驗結(jié)果表明，該系統(tǒng)能有效地完成導航傳感器采集數(shù)據(jù)，實時導航解決方案的任務，卡爾曼濾波器算法運行和外圍設備取指令。導航計算機捷聯(lián)慣導/ gps組合導航系統(tǒng)的要求可以完全滿足。關鍵詞：組合導航，嵌入式計算機，捷聯(lián)慣導，gps，卡爾曼濾波器一 引言 該星/ gps組合導航系統(tǒng)1，2包括表帶聯(lián)慣性導航系統(tǒng)（sins）3和全球定位系統(tǒng)（gps）4。導航計算機是一個集成導航系統(tǒng)有兩個功能（一）完成

35、了大量的實時數(shù)據(jù)處理操作，例如，慣性測量單元（imu）原始數(shù)據(jù)預處理，gps接收消息的預處理，慣性導航解決方案和集成濾波操作; （b）在完成與外部導航傳感器和導航應用的設備，例如，采集陀螺儀，加速度計等慣性傳感器和gps接收器的消息，導航應用設備讀命令和導航結(jié)果的輸出的原始數(shù)據(jù)的數(shù)據(jù)通信的任務5，6。  傳統(tǒng)的導航電腦大多是基于onpc104架構(gòu)7，并有一些不足之處如下。它們通常具有較大的體積，較高的功率消耗和復雜的操作系統(tǒng)?？傆幸恍├щy，硬件維護。傳統(tǒng)的導航計算機的操作性能被限制到cpu主頻和實時性能相對較低。因此，傳統(tǒng)的導航計算機是不適合的組合導航系統(tǒng)8。 &

36、#160;在這項工作中，一個嵌入式組合導航計算機與數(shù)字信號處理器（dsp）和現(xiàn)場可編程門陣列（fpga）的設計為一體的綜合導航計算機的核心架構(gòu)，以達到高實時性，低功耗的性能和小體積。導航電腦，imu和gps組成的原型sins / gps組合導航系統(tǒng)的平臺?？柭鼮V波器9，10對于gps的速度和位置測量是根據(jù)sins / gps組合導航系統(tǒng)的特點設計的。組合導航系統(tǒng)的導航精度不能在gps中斷得到保證。因此，綜合導航模式和純慣性導航模式之間的智能開關被設計在系統(tǒng)的工作模式，有效地避免了上述缺點。二 導航電腦硬件設計 導航計算機需要完成的導航傳感器的數(shù)據(jù)采集，實時導航解決方案，導航效果輸出等。根據(jù)功

37、能，設計這項工作的導航計算機系統(tǒng)由導航信息的兩個子模塊處理和數(shù)據(jù)采集和通信。在導航信息處理子模塊，以及數(shù)據(jù)采集和通信子模塊。  導航數(shù)據(jù)處理模塊主要由dsp，sdram，flash，時鐘電路，總線驅(qū)動電路和fpga實現(xiàn)的邏輯控制電路。該dsp主要完成各種導航算法;在sdram主要用于擴展系統(tǒng)運行所需的存儲空間;閃存主要用來擴展外部rom和固化的系統(tǒng)的程序代碼;時鐘電路的主要功能是提供一種用于在導航計算機系統(tǒng)中的穩(wěn)定的時鐘基準;總線驅(qū)動電路和邏輯控制電路主要坐標dsp芯片來完成的讀 - 寫外部存儲器中的數(shù)據(jù)和i / o端口。  這兩種表帶下降算法和綜合濾波

38、算法，具有較高的計算復雜性和實時性要求高，涉及大量的矩陣運算和有限脈沖響應（fir）濾波器。該dsp是可以實現(xiàn)實時，快速，有效的數(shù)值運算一個新的數(shù)字信號處理器。和dsp集成內(nèi)部集成了fir濾波器11。當選擇導航信息處理機，這種設計考慮到的因素，如功耗，體積和成本，同時為了滿足對組合導航系統(tǒng)的實時導航操作的要求，并最終使用的tms320c6713b（c6713b）芯片德州儀器（ti）作為導航計算機的核心處理器。  考慮到的因素，如功耗，體積和成本，dsp被選為導航信息處理機在這個設計。此外，為了滿足對綜合導航系統(tǒng)，德州儀器（ti）的tms320c6713b（c6713b）芯片

39、的實時導航業(yè)務的要求被用來作為導航計算機的核心處理器。三 sysem軟件設計在本設計中，sins / gps組合導航系統(tǒng)采用位置和速度的綜合mode.the過濾器采用捷聯(lián)慣導誤差方程為狀態(tài)方程。捷聯(lián)慣導和gps作為過濾器的測量信息之間的位置和速度導航信息的差異，被用來糾正捷聯(lián)慣導狀態(tài)向量后，卡爾曼濾波，以提高導航精度。簡單的集成模式引入了gps中的速度和位置信息，提高了導航系統(tǒng)的冗余。該系統(tǒng)能夠在捷聯(lián)慣導系統(tǒng)的工作模式之間智能切換和sins / gps組合中的gps中斷的中保證導航的準確性和促進工程實施工作。該系統(tǒng)的線性狀態(tài)方程如下： （1）東，北向上地理坐標被應用在系統(tǒng)中的導航坐標。由于捷聯(lián)

40、慣性導航系統(tǒng)的垂直通道是不穩(wěn)定的，具有與系統(tǒng)誤差小的補償效果，垂直速度和位置矢量是可以忽略不計的濾波器的狀態(tài)向量。該濾波器的狀態(tài)向量是12維。是系統(tǒng)的狀態(tài)向量模型如下： （2）在那里，是導航系統(tǒng)的東部和北部的速度誤差，分別是在導航系統(tǒng)中，分別為平臺誤差角;是導航系統(tǒng)的緯度和經(jīng)度的錯誤，分別是陀螺漂移;是加速度計偏差。該系統(tǒng)的噪聲矢量： （3）在那里，是陀螺儀的隨機白噪聲漂移;是一階馬爾可夫過程驅(qū)動陀螺儀的白噪聲;是加速度計的隨機白噪聲漂移。四 結(jié) 論 本文提出了一種基于dsp和fpga結(jié)構(gòu)的sins / gps組合導航計算機系統(tǒng)。該設計實現(xiàn)了集成導航系統(tǒng)的嵌入式設計，設計理念充分體現(xiàn)了實時信息

41、處理和實時控制相分離，信息分布式并行處理的設計思想，硬件和軟件相結(jié)合，實現(xiàn)高速數(shù)據(jù)采集系統(tǒng)的目標和高速信息處理，滿足體積小，精度高，實時性，低功耗等系統(tǒng)的要求，具有實際工程意義的組合導航系統(tǒng)的低成本，低功耗的系統(tǒng)低了廣泛的應用區(qū)域。參考 1 w. sun and f. sun, “novel approach to gps/sins integration for imu alignment,” journal of systemsengineering and electronics, vol. 22, no. 3, pp. 513-518,2012. 2 j. ali and m.r.u.b. mirza, “performance comparison among some nonlinear filters for a low cost sins/gps integrated solution,” nonlinear dynamics, vol. 61, no.3, pp.491-502, 2010. 3 d