惯性基组合导航仿真实验平台在实验教学中的应用

Application of integrated navigation simulation platform in experiment teaching

为完善“惯性导航系统原理”实验教学环节,基于Matlab GUI设计并开发惯性基组合导航仿真实验平台。该仿真实验平台具有导航传感器数据产生、仿真条件设置、仿真结果显示以及仿真过程调试等功能,包括捷联惯性导航、惯性/卫星组合导航以及惯性/多普勒计程仪组合导航实验。基于该仿真实验平台开展“惯性导航系统原理”实验教学,具有实验教学方法设计合理、实验平台界面设计科学、代码可移植与可扩展性好等优点;同时,学生可手动设置各种仿真实验条件从而快速、直观地观察载体机动状态、仿真参数对导航算法的影响,有利于学生深入理解惯性基组合导航理论。

To improve the experiment of fundamentals of inertial navigation system course,an integrated navigation simulation platform is designed and developed based on Matlab GUI.Its functions include data generating of navigation simulator,simulation condition setting,simulation results displaying and simulation debugging.In addition,its simulation tests include Strapdown Inertial Navigation System(SINS)calculation,SINS/GNSS integrated navigation and SINS/Doppler Velocity Log(DVL)integrated navigation.Carrying out experiment teaching based on the integrated navigation simulation platform,it has many advantages such as reasonable teaching method,scientific interface,good code portability and expandability.In addition,students can manually set various simulation conditions and then intuitively observe the influence of vehicle s maneuver and simulation parameters,which is helpful to study the principle of integrated navigation system.