靶船航向姿态、授时与定位设计与实现

靶船航向姿态测量与授时、定位是某系统的主要组成部分之一,属于靶载设备。此部分主要用于测量导弹靶试过程中弹靶交会阶段靶船的姿态、航向,并采用GPS授时与定位,将测量结果转换到大地坐标系和发射坐标系,同时保证测量结果与靶场时间一致,以此对导弹的命中精度进行评定。论文主要讨论系统靶船航向姿态测量与授时、定位的设计与实现。     

基于双天线GPS接收机航向姿态测量方法

论述目前航向姿态测量方法,分析了基于2套双天线GPS测姿系统实现载体姿态参数测量的可行性,详细论述了采用2套双天线GPS测姿系统实现载体姿态参数的测量方法及实验验证情况。采用此种GPS航向姿态测量技术,解决了某测量装备对姿态参数测量的问题,并通过综合处理满足了系统对测量精度的要求,节省了研制经费,该研究成果可推广应用于其他装备研制。     

一种小型舰船的航向姿态测量系统

设计了一种用于小型舰船的航向姿态测量系统。该系统对陀螺罗经的航向数据和姿态传感器的横滚、俯仰数据进行实时处理,能为小型舰船提供高精度的航姿信息,且系统体积小,易于安装。经过调试和试验,该测量系统已得到成功应用。     

ADIS16300四自由度IMU在姿态测量中的应用

为了实现复杂的运动与导航控制,需获取控制对象的空间姿态信息,设计了基于四自由度(4DoF)IMU惯性测量传感器和C8051F330单片机的姿态测量系统.介绍了ADIS16300惯性测量传感器的特点及应用,详细说明其数据读取和数据转换,并设计了它与C8051F330单片机组成的姿态测量系统的硬件电路和软件程序.最后将其与AHRS500GA-226航向参考系统进行对比分析,结果表明,ADIS16300能够准确反应空间姿态,其中航向角速率、X轴加速度、Y轴加速度和Z轴加速度4个空间姿态的平均误差分别为0.469(°)/s、0.009m/s2 0.010 m/s2 0.003 m/s2.     

GPS航姿系统研究

ＧＰＳ载波相位相对测量精度能精确到毫米级，利用ＧＰＳ测飞机的航向和姿态可以达到较高的精度，但由于飞机的弹性变形，会给航姿测量带来较大的误差。首先阐述了载波相位双差测量航向和姿态的原理，应用最小二乘估计解算基线矢量。然后详细分析了机体弹性变形对航姿测量的影响。并应用卡尔曼波器对弹性变形量进行估计。     

船载式水声定位系统的姿态测量与修正技术研究

针对船载式水声定位系统的姿态测量及修正问题进行了分析与研究。利用姿态角修正公式对姿态角引起的系统定位误差进行仿真,仿真结果表明同等条件下航向角对其影响较大,并且系统不同方位上的定位精度不同。采用GPS/北斗卫星级联结合微型惯导的组合方式进行船体姿态测量,经过湖上实航试验证明,该方案测量精度高,数据率更新快,并且实施简单,能够满足船载式水声定位系统的需求。目前,该方案已在某型水声定位系统上得到了具体应用,具有较高工程实用价值。     

车载接收卫星电视直播节目的天线自动跟踪系统

利用姿态测量技术，用陀螺传感器对汽车行驶中航向角的变化量进行测量。单片机对测得的数据进行处理后控制伺服系统驱动伺服马达，转动天线使得天线中心轴始终对准卫星，确保汽车在行驶过程中接收卫星电视直播节目能正常工作，并对长时间行驶累积的误差进行修正。     

单频双差GPS定位测向系统的研究与实现

针对传统姿态测量系统成本高,不易扩展等缺陷,设计了一种可扩展的低成本单频双差GPS(Global Positioning System)定位测向系统.根据航向解算原理设计模块化的系统软件,实现数据接收与航向解算功能的分离,提高了系统扩展性.基于广泛使用的ARM9的硬件结构,配合开源Ljnux操作系统,降低了开发成本.通...     

小卫星姿态控制系统的地面测试方法

1 小卫星姿态控制概述 小卫星姿控系统主要由姿态测量敏感器、姿态控制器和执行部件三部分组成.姿态测量敏感器完成对卫星空间姿态的敏感和测量;姿态控制器让控制程序运行,根据姿态信息,进行姿态判断并发送控制指令;执行部件实现卫星的主动或被动控制.     

基于MEMS微惯性器件的姿态测量 单元设计与测试

MEMS惯组具有体积小、价格低、易于集成等优点,已被广泛应用于各个领域,为提高MEMS姿态解算精度,采用 Mahony互补滤波方法设计了MEMS惯性组件,Mahony互补滤波器将陀螺仪解算的高频姿态信号和加速度计－磁强计解算的低频姿态信号进行融合,提高测量精度,介绍了MEMS惯组硬件、软件、算法设计及无磁转台测试,无磁转台静态测量下的俯仰角精度0.51°,横滚角精度 0.5°,航向角精度1.1°。     

MEMS IMU Based Pedestrian Indoor Navigation for Smart Glass

In open air environment, Global Positioning System (GPS) receiver can determine its position with very high accuracy. Inside a building the GPS signal is degraded, the position estimation from the GPS receiver is very erroneous and of no practical use. In this paper, we present an indoor navigation system to track the position of a pedestrian by using built-in inertial measurement unit (IMU) sensors of a smart eyeglass. The device used for this project was an intelligent eye-wear “JINS MEME”. Here algorithm for step detection, heading and stride estimation are used to estimate the position based on the known locations of the walker using Pedestrian Dead Reckoning method (PDR). We have used extended Kalman filters as sensor fusion algorithm, where measurements of acceleration and orientation from IMU are used to track user’s movement, pace, and heading. The results showed that the level of accuracy was entirely acceptable. Average deviancy between the estimated and real position was less than 1.5 m for short range of walk was accomplished. There are some ideas for further development. Increasing the accuracy of the position estimation by palliation of stride length estimation error was identified as the most essential.     

利用GPS确定运动载体姿态的方法研究

介绍了GPS测量运动载体姿态的基本原理,并基于NovAtel DL型非专业姿态测量GPS接收机进行了实验,给出了GPS姿态测量的初步结果。     

Space flight tests of attitude determination using GPS

Preliminary space flight results of attitude determination using GPS are presented from a spacecraft in low Earth orbit. Relative position measurements accurate to the sub-centimetre level are made among multiple GPS antennas mounted on the space vehicle. A Trimble Navigation TANS Quadrex (a GPS receiver specially adapted for attitude determination by Stanford University) is used as a differential carrier phase sensor for the flight. Four GPS antennas are mounted on the zenith face of RADCAL, a polar orbiting, gravity-gradient-stabilized Air Force Space Test Program Satellite, built by Defense Systems, Inc. The four antennas are equally spaced about the perimeter of the 30 inch diameter cylindrical spacecraft bus. The Quadrex receiver measures the phase of the L-band GPS carrier (1575 MHz) at each of up to four antennas for up to six GPS satellites simultaneously. From these measurements, an initial assessment of attitude determination in space is performed in post-processing. For RADCAL, the attitude solution is greatly overdetermined. In a preliminary evaluation of system performance, the system accuracy is determined through measurement self-consistency. Analysis of the attitude motion in the context of a gravity gradient dynamic model yields further insight into the system performance.     

分布式测量体制下的船姿数据重构

新一代航天测量船采用的分布式船姿船位测量体制提高了数据的准确性和可靠性,同时也给数据处理与使用提出了更多的需求,比如姿态数据一致性检验、姿态数据联合使用等.为此,提出了一种新的船姿数据重构方法.首先,对集中式与分布式测量机制进行了对比,分析了采用传统数据处理方法解决新需求会产生困难的原因,并指出姿态重构数据的取得将成为解决这些问题的关键;然后,分两个过程对分布式船体姿态测量数据的重构方法进行了推演,并说明了如何使用重构数据去解决新需求;最后,在重构数据本身精度和重构数据对飞行器目标定位精度影响两个方面对该重构方法进行了检验,结果表明使用该方法得到姿态数据满足任务精度指标要求.     

GPS卫星导航系统多频姿态测量技术研究

GPS全球卫星导航系统现代化工作,为多频姿态测量接收机的研制提供了基础条件。针对低轨卫星、导弹、飞机和舰艇等平台对姿态测量的使用需求,给出了由天线单元、测量单元和姿态解算单元构成的多频姿态测量接收机总体方案。研究了基于GPS多频组合噪声残差法实时探测与修复周跳、基于几何约束的单历元模糊度解算等关键技术,并给出了详细的计算方程和流程。对GPS单频定姿接收机和多频定姿接收机进行静态试验,证明后者在测姿精度和解算成功率方面都优于前者。     

基于平方根差分滤波的动中通姿态稳定方法

为了隔离载体扰动对天线指向的影响,研究了单基线GPS和微惯性传感器组合的低成本姿态估计及稳定方法。该方法以四元素和陀螺误差作为状态变量,根据陀螺角速率信息、加速度计的重力场信息和单基线GPS航向信息分别建立状态方程和量测方程,设计具有不同测量周期的平方根差分滤波分别融合惯性传感器和GPS信息,解决了加速度计与单基线GPS航向信息输出频率不一致问题;利用估计出的姿态角在角位置环路上对天线进行捷联稳定,隔离载体扰动。仿真结果表明,平方根差分滤波能有效估计出载体姿态,利用中等精度的微惯性器件可以满足动中通姿态稳定的需求。     

GPS-BASED LEO SATELLITE POSITION AND ATTITUDE DETERMINATION AUGMENTED BY PSEUDOLITES ON EARTH

GPS-based navigation and attitude determination of LEO satellites is presently considered as an alternative to the conventional systems which utilize earth sensors and magnetometers. The onboard GPS receiver determines the orbit position of the LEO satellite by the conventional system of linearized navigation equations, requiring the simultaneous reception of ranging signals from four GPS satellites by a single antenna. For attitude determination, pairs of antennae, suitably mounted on the satellite and feeding a common receiver, form several interferometric baselines. The baselines vectors, defined in a given coordinate system, determine the attitude of the satellite. For each baseline and each GPS satellite, the difference in phase of the received signal carriers is measured. The differencing operation eliminates the receiver clock bias. Solutions for the baseline vectors can be obtained with signals received from only three GPS satellites. If the coverage of a receive antenna is restricted to less than the hemisphere it will not have four GPS satellites in view all the time. It is demonstrated that a GPS pseudolite transmitter located on earth supplements the system, which then provides a usable geometric dilution of precision (GDOP) for position determination and an improved position dilution of precision (PDOP) for attitude determination. Pseudolites can be co-located with the gateways which provide access to the public switched telephone networks (PSTNs) for the LEO communication satellites.     

计算机仿真GPS导航仪的设计与开发

利用计算机、仿真模拟等技术，虚拟船舶航行环境，仿真模拟 GPS 导航仪，以解决实装 GPS 导航仪在教学训练中存在的一些弊端。由于 GPS 导航仪版本升级换代快，采用软模拟技术代替硬模拟，以使仿真导航仪具有良好的移植性；采用图形显示技术，以逼真仿真导航仪外形；采用图形显示模拟技术和操作功能逻辑模拟技术，并结合实时计算模型，模拟导航仪显示和操作功能；通过建立船舶运动模型，人工输入船舶航向、航速等参数，虚拟船舶海上航行环境， 最终实现 GPS 导航仪的面板仿真、功能模拟与环境虚拟。仿真导航仪不仅具有实装导航仪相同的外型与功能，而且在虚拟航行环境下实现导航仪的综合操作，从而有效提高导航仪教学训练效果。     

基于GPS的卫星时间和频率同步原理研究

时间和频率同步是雷达标校系统的关键技术之一,同步的实现是系统采用两地雷达目标模拟技术所必须的。研究一种基于GPS的卫星时间和频率同步方案,即接收GPS转发的标准时间和频率信号,采用同步模块实现标校系统舰上和岸上两地的时间和频率同步,该方案优于传统同步装置的长时间校正频率误差,提高了标校系统的时间和频率同步精度,从而减小了标校系统对雷达进行标定校准的误差。