捷联惯性/卫星组合导航系统实验教程

图书标准信息

• 作者 王新龙
• 出版社 电子工业出版社
• 出版时间 2022-11
• 版次 1
• ISBN 9787121445446
• 定价 78.00元
• 装帧 其他
• 开本 16开
• 页数 420页
• 字数 680千字

【内容简介】

惯性导航与卫星导航各有所长，在性能上具有很强的互补性。因此，惯性导航、卫星导航以及惯性/卫星组合导航在国防以及国民经济的各个领域得到了广泛应用，本书正是为加强这些技术领域创新性人才实验实践环节的培养需求而撰写的。全书主要内容共分为四部分：第一部分为导航实验的基础知识，主要包括导航系统常用的测试设备、实验数据的基本处理方法等；第二部分为惯性导航相关实验，主要包括惯性传感器件的标定、惯性导航系统的初始对准、惯性导航系统的导航解算等系列实验；第三部分为卫星导航相关实验，主要包括卫星导航接收机基带信号处理以及卫星导航系统定位、测速、定姿等系列实验；第四部分为惯性/卫星组合导航相关实验，重点围绕 SINS/GNSS 松组合、紧组合、超紧组合和深组合四种组合模式设计了层次多样的综合性、创新性实验内容。

【作者简介】

王新龙，北京航空航天大学教授，宇航学院航天导航制导与控制系副主任，校级一流课程《惯性导航基础》负责人，获得校级教学成果二等奖4次（排名1）、三等奖3次（排名1）；2010年获北京航空航天大学三育人先进个人称号；10次获得校级优秀硕士学位论文指导教师称号。出版教材及专著多本，已负责完成了包括5项国家自然科学基金、国家重点研发计划、国家863高新技术项目、国家科技重点专项基金、中国博士后基金、航天创新基金、航天支撑基金、航空基金、国防基础预研、国防重点实验室基金等科研项目四十余项。

【目录】

第 1 章 导航实验的基础知识···············································································.1

1.1 导航系统常用的测试设备 ········································································.1

1.1.1 分度头 ··························································································.1

1.1.2 双轴位置转台···················································································.2

1.1.3 三轴速率转台···················································································.3

1.1.4 离心机 ··························································································.4

1.1.5 温度控制箱 ·····················································································.5

1.1.6 GNSS 信号模拟器 ··············································································.5

1.1.7 RTK 基站 ·······················································································.7

1.2 实验数据的基本处理方法 ········································································.9

1.2.1 最优估计基本概念 ·············································································.9

1.2.2 最小二乘估计···················································································10

1.2.3 卡尔曼滤波算法 ················································································15

1.2.4 蒙特卡洛法 ·····················································································20

1.2.5 一元线性回归···················································································22

1.2.6 有色噪声及相关分析法 ········································································24

1.2.7 时间序列分析法 ················································································26

1.3 卡尔曼滤波在组合导航系统中的应用方法···················································30

1.3.1 直接法和间接法 ················································································30

1.3.2 利用卡尔曼滤波器的估值对惯性导航系统进行校正的方法 ·································33

第 2 章 惯性传感器件标定系列实验······································································35

2.1 惯性传感器件的数学模型 ········································································35

2.1.1 陀螺仪漂移数学模型···········································································36

2.1.2 加速度计的数学模型···········································································37

2.2 光纤陀螺仪的静态漂移性能测试实验·························································38

2.2.1 陀螺仪静态测漂的基本原理 ···································································38

2.2.2 实验目的与实验设备···········································································39

2.2.3 实验步骤及操作说明···········································································41

2.3 光纤陀螺仪零偏和标度因数的动态标定实验················································44 

VI 捷联惯性/卫星组合导航系统实验教程

2.3.1 陀螺仪动态标定基本原理······································································44

2.3.2 实验目的与实验设备···········································································45

2.3.3 实验步骤及操作说明···········································································47

2.4 光纤陀螺仪的温度特性测试实验·······························································47

2.4.1 光纤陀螺仪零偏和标度因数的温度特性测试原理············································48

2.4.2 实验目的与实验设备···········································································48

2.4.3 实验步骤及操作说明···········································································50

2.5 基于 Allan 方差的光纤陀螺仪随机误差分析实验···········································51

2.5.1 Allan 方差分析方法的基本原理 ·······························································51

2.5.2 实验目的与实验设备···········································································55

2.5.3 实验步骤及操作说明···········································································56

2.6 基于重力场的加速度计误差标定实验·························································57

2.6.1 基于重力场的加速度计误差标定基本原理 ···················································57

2.6.2 实验目的与实验设备···········································································59

2.6.3 实验步骤及操作说明···········································································60

2.7 基于离心机的加速度计误差标定实验·························································61

2.7.1 基于离2