多信息融合组合导航半物理仿真系统设计与实现

The Design and Implementation of Multi-information Fusion Integrated Navigation Semi-physical Simulation System

导航算法是组合导航系统中的关键技术。为了验证导航算法的性能, 以导航算法能最终实现工程应用为背景,文中研究了一种以RS-232串行通信为基础,采用分布式仿真结构的多信息融合组合导航半物理仿真系统。根据系统工作原理,搭建了硬件平台,设计了系统的整体信息交换流程和各分系统之间的数据通信协议,利用MSC6.0和VC++6,0编制了传感器仿真程序,导航仿真程序,以及导航监控程序。最终完成了整个系统的实时联调。系统实时联调结果表明,该系统能够直观有效地验证各种导航算法的导航性能,从而为导航算法移植到工程应用中提供了有益的参考。

Navigation algorithm is the key technique of integrated navigation system. In order to confirm the performance of the navigation algorithm, and finally apply this algorithm into engineering project, one distributed multi-information fusion integrated navigation semi-physical system is studied, which is based on RS-232 serial communication. According to the principle of the system, hardware platform is built, whole information flow is designed and the protocol of information is also defined. Then the sensors simulation, the navigation simulation and the navigation monitor are programmed by using MSC6. 0 and VC++ 6.0. Finally the system can function well in real time. The results suggest that the system can visually validate the algorithm, which provides good references for the navigation algorithm applying to the engineering project.