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第1章 绪论1

参考文献7

第2章 惯性、卫星和天文导航系统工作原理9

2.1引言9

2.2导航中常用的坐标系及地球参考模型9

2.2.1导航中常用的坐标系9

2.2.2坐标系的转换11

2.2.3地球参考模型14

2.3惯性导航系统18

2.3.1惯性导航系统工作原理18

2.3.2捷联惯性导航系统误差方程与误差传播特性21

2.4卫星导航系统28

2.4.1卫星导航系统工作原理28

2.4.2卫星导航系统误差特性分析30

2.5天文导航系统32

2.5.1自主天文定位原理33

2.5.2天文定姿原理40

2.5.3天文导航系统中的恒星敏感器及其误差特性分析42

Chapter 1 Introduction1

References7

Chapter 2 Working Principles of INS,GNSS and CNS9

2.1 Introduction9

2.2 Coordinates Systems and The Earth Model in Navigation9

2.2.1 Coordinates Systems in Navigation9

2.2.2 Coordinates Frame Transformation11

2.2.3 Earth Model14

2.3 Inertial Navigation System18

2.3.1 Working Principles of INS18

2.3.2 Error Models and Error Propagation Characteristics of INS21

2.4 Global Navigation Satellite System28

2.4.1 Working Principles of GNSS28

2.4.2 Error Analysis of GNSS30

2.5 Celestial Navigation System32

2.5.1 Principles of Positioning33

2.5.2 Principles of Attitude Determination40

2.5.3 Star Sensors in Celestial Navigation System and Its Error Characteristics42

参考文献46

第3章 导航系统的先进滤波方法49

3.1引言49

3.2卡尔曼滤波50

3.3扩展卡尔曼滤波52

3.4 Unscented卡尔曼滤波56

3.5粒子滤波58

3.6 Unscented粒子滤波60

3.7预测滤波61

3.8联邦滤波64

参考文献66

第4章 捷联惯性导航系统建模标定方法及高动态捷联算法69

4.1引言69

4.2陀螺仪误差建模、测试与补偿70

4.2.1陀螺仪误差模型70

4.2.2陀螺仪标度因数与输入轴失准角的解耦测试方法72

4.2.3陀螺仪标度因数误差分析及分段插值补偿方法76

4.2.4硅MEMS陀螺仪温度误差建模80

4.3捷联惯性测量单元的标定方法82

4.3.1动静结合的混合标定方法83

4.3.2低精度MIMU六位置正反转标定方法90

References46

Chapter3 Filters in Navigation System49

3.1 Introduction49

3.2 Kalman Filter60

3.3 Extended Kalman Filter52

3.4 Unscented Kalman Filter56

3.5 Particle Filter58

3.6 Unscented Partical Filter60

3.7 Predictive Filter61

3.8 Federal Filter64

References66

Chapter 4 Modeling and Calibration of INS and The High Dynamic Strapdown Inertial Algorithm69

4.1 Introduction69

4.2 Error Modeling, Testing and Compensation of Inertial Sensors70

4.2.1 Error Models of Gyroscopes70

4.2.2 Test Method of Decupling GycoScale Factors and Input Axis Misalignment Angle72

4.2.3 Error Analysis of Gyroscope Scale Factors and Its Piecewise Interpolation Compensatory Method76

4.2.4 Temperature Error Modeling of Silicon Mems Gyroscope80

4.3 Inertaial Measurements Units Calibration82

4.3.1 Calibration Combing Dynamic and Static Methods83

4.3.2 Reversible Six Positions Calibration Method for Low Accuracy MIMU90

4.3.3基于神经网络的MIMU标度因数误差补偿方法94

4.4高动态捷联惯性导航系统算法102

4.4.1圆锥运动分析及圆锥误差补偿算法评价准则103

4.4.2一种改进的单子样的旋转矢量姿态算法104

参考文献112

第5章 惯性/卫星组合导航方法116

5.1引言116

5.2惯性/卫星组合导航原理117

5.2.1惯性/卫星组合导航组合模式117

5.2.2惯性/卫星组合导航基本原理118

5.3惯性/卫星组合导航系统的建模方法120

5.3.1基于φ角的惯性/卫星组合导航系统线性建模方法120

5.3.2基于四元数误差的惯性/卫星组合导航系统非线性建模方法123

5.4高精度惯性/卫星组合导航方法129

5.4.1基于混合校正的惯性/卫星组合导航方法130

5.4.2基于可观测度归一化处理方法的自适应反馈校正滤波方法133

4.3.3 Error Compensation Method for Scale Factor of MIMU Based on Neural Network94

4.4 High Dynamic Strapdown Inertial Algorithm102

4.4.1 The Analysis of Cone Motion and Evaluation Criterion of Cone Compensation Algorithm103

4.4.2 A New Attitude Determinationro Algorithm Using Improved Single-Subsample Rolling Vector104

References112

Chapter 5 INS/GNSS Integrated Navigation Method116

5.1 Introduction116

5.2 Principles of INS/GNSS Integrated Navigation117

5.2.1 Integrated Modes of INS/CNS Integrated Navigation117

5.2.2 Principles of INS/GNSS Integrated Navigation118

5.3 Modeling of INS/GNSS Integrated Navigation120

5.3.1 Linear Modeling Method Based onφAngle120

5.3.2 Nonlinear Modeling Method Based on Quaternion Error123

5.4 High Accuracy INS/GNSS Integrated Navigation Method129

5.4.1 SINS/GNSS Integrated Navigation Method Based on Mixed Correction130

5.4.2 Adaptive Feed-Back Filter Based on Observability Normalization133

5.4.3基于卡尔曼滤波新息正交性的惯性/卫星抗野值组合导航方法137

5.4.4基于可观测度分析与杆臂误差补偿的空中机动对准方法140

5.5微小型、低成本惯性/卫星组合导航方法144

5.5.1基于UKF的微小型、低成本惯性/卫星组合导航方法145

5.5.2大失准角下惯性/卫星组合导航系统的空中机动对准方法146

5.5.3基于微惯性测量单元/磁强计的组合导航方法150

5.6机载SAR成像运动补偿用惯性/卫星组合导航系统161

5.6.1机载SAR成像运动补偿用惯性/卫星组合导航系统原理161

5.6.2机载惯性/卫星组合导航系统设计与实现162

5.6.3机载SAR成像运动补偿用惯性/卫星组合导航系统试验166

参考文献172

第6章 惯性/天文组合导航方法176

6.1引言176

6.2惯性/天文组合导航基本原理177

5.4.3 SINS/GNSS Integrated Navigation Method Based on Kalman Filtering Orthogonality of Innovation for Restraining Outliers137

5.4.4 A New In-flight Alignment Method Based on Observability Analysis and Level-arm Error Compensation140

5.5 Micro-low Cost INS/GNSS Integrated Navigation Method144

5.5.1 Low Cost INS/GNSS Integrated Navigation Method Based on UKF145

5.5.2 The In-flight Alignment Method of INS/GNSS Integrated Navigation System in Big Misalignment Angle146

5.5.3 The Integrated Navigation Method Based on IMU/Magnetometer150

5.6 INS/GNSS Integrated Navigation System in Motion Compensation System for Airborne SAR Imaging161

5.6.1 Principle of INS/GNSS Integrated Navigation System161

5.6.2 INS/GNSS Integrated Navigation System Design and Implementation162

5.6.3 INS/GNSS Integrated Navigation Experiments166

References172

Chapter 6 INS/CNS Integrated Navigation Method176

6.1 Introduction176

6.2 Principles of INS/CNS Integrated Navigation177

6.2.1惯性/天文组合导航系统的工作模式177

6.2.2惯性/天文组合导航系统的组合方式179

6.2.3基于天文量测信息的惯性器件误差修正原理180

6.3惯性/天文组合导航系统建模方法181

6.3.1惯性/天文组合导航系统状态方程181

6.3.2惯性/天文组合导航系统量测方程183

6.4弹道导弹惯性/天文组合导航新方法184

6.4.1基于天文量测信息的导弹发射点初始位置误差校正原理184

6.4.2基于UKF的弹道导弹惯性/天文组合导航方法185

6.5月球车的惯性/天文组合导航方法189

6.5.1月球车的捷联惯性导航方法190

6.5.2一种基于UPF的月球车惯性/天文组合导航方法190

6.6卫星的惯性/天文组合定姿方法195

6.6.1卫星定姿系统方程195

6.6.2一种基于EKF的分段信息融合的惯性/天文组合定姿方法197

6.2.1 Working Modes of INS/CNS Integrated Navigation System177

6.2.2 Integrated Modes of INS/CNS Integrated Navigation System179

6.2.3 Correction of Inertial Sensor Errors Employing Celestial Information180

6.3 Modeling of INS/CNS Integrated Navigation System181

6.3.1 State Equations181

6.3.2 Measurement Equations183

6.4 New INS/CNS Integrated Method for Missile184

6.4.1 Correction of The Emission Point Position Error Based on The Celestial Information184

6.4.2 INS/ CNS Integrated Navigation Method Based on UKF185

6.5 INS/CNS Integrated Navigation Method for Lunar Rover189

6.5.1 Strapdown Inertial Navigation Method for Lunar Rover190

6.5.2 SINS/CNS Integrated Navigation Method for Lunar Rover Based on UPF190

6.6 INS/CNS Integrated Attitude Determination Method for Satellites195

6.6.1 System Equations of Attitude Determination System for Spacecrafts195

6.6.2 SINS/CNS Integrated Attitude Determination Method Based on EKF and Sectional Information Fusion197

6.6.3基于UKF的卫星最小参数姿态矩阵估计方法201

6.6.4一种基于QUEST+UKF+最优REQUEST的自适应分段信息融合定姿方法206

参考文献212

第7章 惯性/天文/卫星组合导航方法215

7.1引言215

7.2惯性/天文/卫星组合导航原理216

7.2.1惯性/天文/卫星组合导航基本原理216

7.2.2惯性/天文/卫星组合导航的组合模式216

7.2.3惯性/天文/卫星组合导航系统的建模221

7.3基于联邦UKF的惯性/天文/卫星组合导航方法222

7.4基于优化信息分配因子的联邦滤波惯性/天文/卫星组合导航方法225

7.4.1联邦滤波方程及信息分配过程226

7.4.2基于信息分配因子优化的联邦滤波惯性/天文/卫星组合导航方法227

7.4.3基于遗传算法优化信息分配因子的联邦滤波惯性/天文/卫星组合导航方法228

6.6.3 Estimation Method for Satellite Minimal Parameter Attitude Matrix Based on UKF201

6.6.4 An Adaptive Segmented Information Fusion Attitude Determination Method Based on QUEST+UKF+Optimal Request206

References212

Chapter 7 INS/CNS/GNSS Integrated Navigation Method215

7.1 Introduction215

7.2 Principles of INS/CNS/GNSS Integrated Navigation216

7.2.1 Basic Principles of INS/CNS/GNSS Integrated Navigation216

7.2.2 Integrated Modes of INS/CNS/GNSS Integrated Navigation System216

7.2.3 System Modeling of INS/CNS/GNSS Integrated Navigation System221

7.3 INS/CNS/GNSS Integrated Navigation Method Based on Federal UKF Filter222

7.4 INS/CNS/GNSS Integrated Navigation Method Based on Federal Filter With Optimal Information Distribution factor225

7.4.1 Federal Filter Equations and Process of Information Distribution226

7.4.2 The SINS/CNS/GNSS Integrated Navigation Federal Filter Method Based on The Optimized Information Distribution Factor227

7.4.3 The SINS/CNS/GNSS Integrated Navigation Federal Filter Method Based on The Information Distribution Factor Optimized by Genetical Algorithm228

7.5一种基于衰减因子卡尔曼滤波的惯性/天文/卫星组合导航方法234

7.5.1状态方程与量测方程234

7.5.2一种新的衰减因子自适应滤波器235

7.5.3基于新的衰减因子自适应滤波的惯性/天文/卫星组合导航方法238

7.6基于多模型自适应滤波的惯性/天文/卫星组合导航方法240

7.6.1基于递归型交互式多模型自适应滤波的惯性/天文/卫星的组合导航方法241

7.6.2基于遗传多模型自适应滤波的惯性/天文/卫星组合导航方法246

参考文献250

第8章 惯性/天文/卫星组合导航方法的实时性研究252

8.1引言252

8.2分段线性定常系统可观测性分析理论与方法253

8.2.1分段线性定常系统可观测性分析理论253

8.2.2一种改进的基于奇异值分解的系统状态可观测度分析方法257

8.3基于改进可观测度分析的惯性/天文组合导航系统降维滤波器设计259

8.4基于改进可观测度分析的惯性/卫星组合导航系统降维滤波器设计263

7.5 INS/CNS/GNSS Integrated Navigation Methods Based on Fading Factor234

7.5.1 State Equations and Measurement Equations234

7.5.2 A New Adaptive Filter Based on Fading Factor235

7.5.3 SINS/CNS/GNSS Integrated Navigation Based on New Adaptive Filter238

7.6 The SINS/CNS/GNSS Integrated Navigaon Based on Multimode Adaptive Kalman Filter240

7.6.1 The SINS/ CNS/GNSS Integrated Navigation Based on Recursive Interactive Multimode Adaptive Kalman Filter241

7.6.2 The SINS/CNS/GNSS Integrated Navigation Based on Genetic Algorithm Multimode Adaptive Kalman Filter246

References250

Chapter 8 Study on Real-time Ability of INS/CNS/GNSS Integrated Navigation Method252

8.1 Introduction252

8.2 Observability Analysis Method253

8.2.1 The Princile of PWCS Observability Analysis253

8.2.2 An Observability Analysis Based on Improved Singular Value Decomposition257

8.3 The Design of Dimensionality Reduction Filter Based on Improved Observability Analysis for SINS/CNS Integrated Navigation259

8.4 The Design of Dimensionality Reduction Filter Based on Improved Observability Analysis for SINS/GNSS Integrated Navigation263

8.5基于降维滤波的惯性/天文/卫星组合导航系统联邦滤波器设计267

8.6一种惯性/天文/卫星组合导航算法的优化方法271

参考文献275

第9章 惯性/天文/卫星组合导航半物理仿真系统277

9.1引言277

9.2惯性/天文/卫星组合导航半物理仿真系统原理与组成278

9.2.1惯性/天文/卫星组合导航半物理仿真系统原理278

9.2.2惯性/天文/卫星组合导航半物理仿真系统组成280

9.3惯性/天文/卫星组合导航半物理仿真系统的实现与试验294

9.3.1惯性/天文/卫星组合导航半物理仿真系统的实现295

9.3.2惯性/天文/卫星组合导航半物理仿真系统的试验303

参考文献305

第10章 惯性/天文/卫星组合导航技术展望307

10.1组合导航技术的发展与展望307

10.1.1惯性/天文/卫星组合导航系统的精确建模技术307

10.1.2惯性/天文/卫星组合导航系统的信息融合与先进滤波方法308

8.5 The Design of Federal Filter Based on Dimensionality Reduction Filter for SINS/CNS/GNSS Integrated Navigation267

8.6 An Optimal Method for SINS/CNS/GNSS Integrated Navigation271

References275

Chapter 9 Semi-physical Simulation Technology of INS/CNS/GNSS Integrated Navigation277

9.1 Introduction277

9.2 Principles of Hybrid Simulation of INS/CNS/GNSS Integrated Navigation278

9.2.1 Principles of Semi-physical Simulation of INS/CNS/GNSS Integrated Navigation278

9.2.2 Compositions of INS/CNS/GNSS Integrated Navigation System280

9.3 Implementations and Experiments of Semi-physical INS/CNS/GNSS Integrated Navigation System294

9.3.1 Implementations of Semi-physical INS/CNS/GNSS Integrated Navigation System295

9.3.2 Experiments of Semi-physical INS/CNS/GNSS Integrated Navigation System303

References305

Chapter 10 Prospect of INS/CNS/GNSS Integrated Navigation Technology307

10.1 Development and Prospect of INS/ CNS/GNSS Integrated Navigation307

10.1.1 Accurate Modeling of INS/ CNS/GNSS Integrated Navigation System307

10.1.2 Information Fusion and Advanced Filters in INS/CNS/GNSS Integrated Navigation System308

10.1.3基于先进控制理论的惯性/天文/卫星组合导航方法309

10.1.4基于集成一体化的惯性/天文/卫星组合导航系统技术312

10.1.5惯性/天文/卫星组合导航技术的应用312

10.2结束语313

参考文献314

10.1.3 Advanced Control Theories in INS/CNS/GNSS Integrated Navigation System309

10.1.4 INS/CNS/GNSS Integrated Navigation System Technology Based on Integration Technology312

10.1.5 Applications of INS/CNS/GNSS Integrated Navigation Technology312

10.2Summary313

References314