国防科技大学学报2018，Vol.40Issue(1)：132-137,6.DOI:10.11887/j.cn.201801020
利用实际飞行数据插值的INS/GNSS组合导航仿真轨迹发生器
Trajectory generator for INS/GNSS integration simulation through real flight data interpolation
摘要
Abstract
An analytic dynamic trajectory generating algorithm based on real flight data interpolation was proposed for INS/GNSS integrated navigation simulation,in order to solve the problem of generating high-precision simulated signals of gyros and accelerometers in a strapdown inertial navigation system.Accurate piecewise analytic expressions of angular rates,angular increments and specific force integral increments in body frame were obtained on the basis of the spline function interpolation for the vehicle′s attitude, position and gravity data in the earth centered inertial frame.The simulated signals of gyros and accelerometers were coincident not only with the vehicle′s kinematics and dynamic characteristics, but also with the characteristics of post-processed GNSS′s pseudo-ranges and their rate measurements.The influence of the lever arm effect of an inertial measurement unit was also simulated.A constrained analytic quaternion interpolation algorithm was proposed under the restrictive condition in which the norm of the interpolated quaternion should be 1.Based on the real flight data of an unmanned aerial vehicle, it is proved that the accuracy and the effectiveness of the proposed algorithm can meet the requirements of dynamic simulation of integrated navigation.The algorithm can also be used in other simulations,such as high-precision high-dynamic navigation and rigid body motion control,in which the simulated sensor signals in angular and linear motion are needed.关键词
INS/GNSS组合导航/捷联惯性导航/动态轨迹解析生成/四元数样条插值/杆臂效应Key words
INS/GNSS integration navigation/strapdown inertial navigation system/analytic dynamic trajectory generating/quaternion spline interpolation/lever arm effect分类
交通工程引用本文复制引用
刘科,吴文启,唐康华,文坤..利用实际飞行数据插值的INS/GNSS组合导航仿真轨迹发生器[J].国防科技大学学报,2018,40(1):132-137,6.基金项目
国家重大基础研究子专题资助项目(6132180103-2) （6132180103-2）
教育部高等学校博士学科点专项科研基金资助项目(20124307110006)作者简介:刘科(1988—),男,四川绵竹人,博士研究生,E-mail:kevin880205@163.com （20124307110006）
