激光陀螺导航系统硬件平台的设计

为减小硬件平台的体积,提高系统的集成度,在激光陀螺导航系统硬件平台设计时,对硬件平台的核心部分采用内嵌处理器硬核的FPGA进行导航数据的实时解算,并在FPGA的内部逻辑中集成IP核来实现数据采集、接口通信和显示控制等功能。

导航系统实验教学的研究

实验教学是培养学生动手实践、工程意识和创新能力的主要手段。紧密结合航空航天特色专业必修课程导航系统的授课情况,开设了完整的适用于本科阶段培养的导航系统系列实验,从而提升了学生对课程核心内容的掌握程度,提高了学生设计实验方案、解决实验问题、分析实验结果的能力,达到了激发学生学习热情与创造性思维能力培养的目的。

Study on rate azimuth platform inertial navigation system

The cost of the gravity passive inertial navigation system will be lower witha rate azimuth platform and gravity sensor constituting a gravity measurement and navigationsystem. According to the system performance characteristics, we study the rate azimuth platforminertial navigation system (RAPINS), give the system navigation algorithm, error equations of theattitude, velocity and position of the rate azimuth platform, and random error models of theaccelerometer and gyro. Using the MATLAB/Simulink tools, we study the RAPINS and RAPINS withvelocity damping. Simulation results demonstrate that the RAPINS with velocity damping has smallerrors in platform attitude and position and satisfies gravity measurement and navigationrequirement.

Novel gravity passive navigation system

According to the characteristics of gravity passive navigation, this paper presents a novel gravity passive navigation system （GPNS）, which consists of the rate azimuth platform （RAP）, gravity sensor, digitally stored gravity maps, depth sensor and relative log. The algorithm of rate azimuth platform inertial navigation system, error state-space equations, measurement equations and GPNS optimal filter are described. In view of the measurements made by an onboard gravity sensor the Eotvos effect is introduced in the gravity measurement equation of a GPNS optimal filter. A GPNS is studied with the Matlab/Simulink tools; simulation results demonstrate that a GPNS has small errors in platform attitude and position. Because the inertial navigation platform is the rate azimuth platform in the GPNS and gravity sensor is mounted on the rate azimuth platform, the cost of the GPNS is lower than existing GPNS＇s and according to the above results the GPNS meets the need to maintain accuracy navigation for underwater vehicles over long intervals.

An improved computation scheme of strapdown inertial navigation system using rotation technique

To improve the accuracy of strapdown inertial navigation system(SINS) for long term applications,the rotation technique is employed to modulate the errors of the inertial sensors into periodically varied signals,and,as a result,to suppress the divergence of SINS errors.However,the errors of rotation platform will be introduced into SINS and might affect the final navigation accuracy.Considering the disadvantages of the conventional navigation computation scheme,an improved computation scheme of the SINS using rotation technique is proposed which can reduce the effects of the rotation platform errors.And,the error characteristics of the SINS with this navigation computation scheme are analyzed.Theoretical analysis,simulations and real test results show that the proposed navigation computation scheme outperforms the conventional navigation computation scheme,meanwhile reduces the requirement to the measurement accuracy of rotation angles.

BeiDou Integrated Disaster Reduction Application Platform

To better improve the emergency communication and location-based services of disaster information reporting network for serious natural response and relieL disaster emergency the national natural disaster reduction application platform based on BeiDou navigation satellite system is constructed. The administrative distributed platform is integrated with BeiDou positioning and multiple communication ways so as to achieve main disaster reduction application services, including disaster information acquisition and monitoring, emergency relief for trapped people, on-site emergency relief command service, relief supplies＇ transportation monitoring, and disaster information publishing service. By the platform, serious disaster information reporting time may be reduced to one hour and the emergency decision-making information service for serious natural disasters can be effectively improved, and it will be helpful to provide technical references for the industrial application and promotion of BeiDou inte- grated disaster reduction.

Evaluation of the Use of Inertial Platform for the Generation of Cartography

This study aims to analyze the quality of positioning orthophoto generated through the technique of direct georeferencing using metric digital camera system coupled to the laser system, and both systems were aided inertial navigation platform. For this, we compared the coordinates obtained in 16 control points collected in the field with dual-frequency GNSS （global navigation satellite system） receiver with those obtained in the orthophoto, flight conducted in June 2009 on the campus of the State University of Campinas--UNICAMP, using a medium format digital camera and laser system, with which we obtained images with a spatial resolution of 0.15 m. Taking into account the pattern accuracy cartographic used in Brazil, it is concluded that the products produced have a standard accuracy ＂A＂ to 1：2,000 scale, which represents the best quality level, both for planimetric as for altimetry, and that the procedure reached results consistent with cartographic products in 1：2,000 scale, representing a reduction of steps in the mapping process, necessary for the preparation of cartographic databases with reduction of time for preparation of design basis large civil engineering projects, such as roads, railways, studies of urban road systems, power plants and other infrastructure systems needed to develop the country.

New self-calibration schemes for accelerometers in platform INS

To ensure success of precise navigation, it is necessary to carry out in-field calibration for the accelerometers in platform inertial navigation system(PINS) before a mission is launched.Traditional continuous self-calibration methods are not fit for fast calibration of accelerometers because the platform misalignments have to be estimated precisely and the nonlinear coupling terms will affect accuracy. The multi-position methods with a "shape of motion" algorithm also have some existing disadvantages: High precision calibration results cannot be obtained when the accelerometer's output data are used directly and it is difficult to optimize the calibration scheme. Focusing on this field, this paper proposes new fast self-calibration methods for the accelerometers of PINS. A data compression filter is employed to improve the accuracy of parameter estimation because it is impossible to obtain non-biased estimation for accelerometer parameters when using the "shape of motion" algorithm. Besides, continuous calibration schemes are designed and optimized by the genetic algorithm(GA) to improve the observability of parameters. Simulations prove that the proposed methods can estimate the accelerometer parameter more precisely than traditional continuous methods and multi-position methods, and they are more practical to deal with urgent situations than multi-position methods.