CAJ | 학술논문

研究无人机导航系统性能优化问题，针对SINS与GNSS组合导航系统仿真测试与算法研究时，难以获得真实轨迹数据与器件输出信息的问题，设计了一种新的组合导航半物理仿真系统。首先，提出了一种高精度解析式轨迹生成算法，用于产生基准轨迹数据。其次，建立了惯性器件的数学模型，可结合基准轨迹数据产生惯性器件的输出信息，同时，使用GNSS模拟器在基准轨迹的驱动下产生GNSS信号，接收机根据此信号输出相应卫星导航信息。最后，对系统进行了静态定位与动态导航实验，结果证实了合理性与有效性。建立的半物理仿真系统可为组合导航系统性能测试与算法研究等提供平台，具有很强的工程实用价值。
연구무인궤도항계통성능우화문제，침대SINS여GNSS조합도항계통방진측시여산법연구시，난이획득진실궤적수거여기건수출신식적문제，설계료일충신적조합도항반물리방진계통。수선，제출료일충고정도해석식궤적생성산법，용우산생기준궤적수거。기차，건립료관성기건적수학모형，가결합기준궤적수거산생관성기건적수출신식，동시，사용GNSS모의기재기준궤적적구동하산생GNSS신호，접수궤근거차신호수출상응위성도항신식。최후，대계통진행료정태정위여동태도항실험，결과증실료합이성여유효성。건립적반물리방진계통가위조합도항계통성능측시여산법연구등제공평태，구유흔강적공정실용개치。
It is difficult to obtain the actual trajectory data and the devices outputs for the SINS/GNSS integrated navigation system simulation and the research of related algorithms, so a new hardware in-the-loop simulation system was designed in the paper. Firstly, a high-accuracy analytical algorithm of the trajectory generator was proposed to generate the reference trajectory data. Then, the mathematical model of the inertial sensor simulator was built, to simulate the sensors outputs with the reference trajectory, and the satellite navigation message was obtained from the GNSS receiver with the GNSS signal generated by a GNSS simulator driven by the reference trajectory. Finally, the static positioning and dynamic navigation experiments for the system were executed, and the rationality and the per-formance have been validated. The hardware in-the-loop simulation of SINS/GNSS provides an available platform for integrated navigation system performance analysis and testing and the research of the related algorithms.