惯性／卫星组合导航多功能仿真监控平台实现研究

Research on Realization of INS/GNSS Integrated Navigation Multifunctional Platform for Simulation and Monitoring

惯性／卫星组合导航系统在航空、航天、航海等许多领域发挥着重要的作用。但是由于其研发周期长，往往无法快速地对其性能有一个全面的认识。本文实现的惯性／卫星组合导航多功能仿真监控平台能对不同精度的惯性器件，以及惯导系统的实际应用环境进行仿真，并且内部设置了多套不同的滤波组合算法方案。通过仿真可以迅速了解惯导及组合导航系统预期的精度与性能。同时该平台能实时可靠地接收、显示惯导及组合导航系统高速率的输出数据。本文首先介绍了多功能仿真监控平台的结构和关键技术，提出了将惯导运算基本模块封装为类的概念，并提出了基于星光敏感器的姿态组合的滤波实现算法，最后给出了仿真实例。结果表明：该平台对实际组合导航系统的研制开发与方案设计具有很好的前瞻性和指导意义，为导航系统的深入研究提供了一种有力的工具。

The INS/GNSS integrated navigation acts as an important role in the field of aviation, space flight and sailing. However, it will cost much time to produce an actual inertial navigation system （ INS）, which is hard to know it＇s real performance quickly before INS has been finished. This paper realized a multifunctional platform of simulation and monitoring, which can simulate different kinds of IMU and the working circumstance of INS. It can also provide several schemes of integrated filtering. Through which the users could know the performance of INS will be produced. And the platform can receive and display the data of INS, have the characteristics of high reliability and real - time performance. This paper introduced the structure of the platform and its key technology. Then the concept of capsulating the basic module of inertial navigation operation into classes is proposed, and the method of attitude integrated filtering is realized. It is proved through the simulation that the platform has good performance of prospective study to the actual development of INS, which provide a powerful tool for deeply research on INS.