毕业论文 捷联式惯性导航系统分析.doc

毕业论文 捷联式惯性导航系统分析

摘  要
捷联式惯性导航(strap-down inertial navigation) ，捷联（strap-down）的英语原义是“捆绑”的意思。因此捷联式惯性导航也就是将惯性测量元件（陀螺仪和加速度计）直接装在飞行器这种需要诸如姿态、速度、航向等导航信息的主体上，用计算机把测量信号变换为导航参数的一种导航技术。它具有隐蔽性好，工作不受气象条件和人为的外界干扰等一系列的优点，这些优点使得惯性导航在航天、航空、航海和测量上都得到了广泛的运用。但是，不管惯性器件的精度多高，由于陀螺漂移和加速度计的误差随时间逐渐积累，惯导系统长时间运行必将导致客观的积累误差，因此，人们在不断探索提高自主式惯导系统的精度外，还在寻求引入外部信息，形成组合式导航系统，这也成为了当代导航技术发展的一个趋势。本文主要分析了平台式惯性导航系统，捷联式惯性导航系统，组合式惯性导航系统的原理，组成，以及发展趋势，并在最后对于导航系统的未来做了展望。
关键词：捷联式惯性导航系统，平台式惯性导航系统，组合式惯性导航系统

strap-down inertial navigation system analysis

Abstract
  Strapdown inertial navigation ( strap-down inertial navigation ), strapdown (strap-down) English original meaning is" tied". Therefore the strapdown inertial navigation is the inertial measurement unit ( gyroscopes and accelerometers ) is directly installed on the aircraft that need such as attitude, velocity, heading navigation information such as subject, use the computer measurement signal for navigation parameters of a navigation technology. It has good concealment, work is not affected by meteorological conditions and human interference and a series of advantages, these advantages make the inertial navigation in the aerospace, aviation, navigation and measurement have been widely used. However, no matter how high precision of inertial device, because the gyro drift and accelerometer error with time gradually accumulate, inertial navigation system operation for a long time will lead to objective accumulation error, therefore, people constantly explore to improve autonomous navigation system precision, is also seeking the introduction of external information, to form a combined navigation system, it has become a trend in the development of navigation technology. This paper mainly analyzes the platform inertial navigation system, inertial navigation system, a combined inertial navigation system of the principle, composition, as well as the development trend, and finally for the future of the navigation system.

Key words: Strap-down inertial navigation system, Platform inertial navigation system, Combination Inertial navigation system

目录
1 绪论 - 1 -
1.1 惯性导航概述 - 1 -
1.2导航及其分类 - 2 -
1.2.1 导航基本概念及功能 - 2 -
1.2.2 导航系统的类型 - 3 -
1.3惯性导航系统的基本组成和简要原理 - 5 -
2.惯性元件 - 7 -
2.1 陀螺原理及惯性导航中的陀螺仪 - 7 -
2.1.1 定义 - 7 -
2.1.2 基本特性 - 8 -
2.1.3 发展概况 - 8 -
2.1.4 常用坐标系简介 - 9 -
2.2加速度计 - 10 -
2.3.1概述 - 10 -
2.3.2陀螺稳定平台的基本原理 - 11 -
3.平台式惯性导航系统原理 - 12 -
3．1平台式惯性导航系统的概述 - 12 -
3.2 各类型平台式惯性导航系统原理 - 12 -
4.捷联式惯性导航系统 - 15 -
4.1概述 - 15 -
4.1.1 捷联式惯性导航系统简介 - 15 -
4.2 工作原理及特点 - 16 -
4.2．1 工作原理 - 16 -
4.2.2 捷联式惯导系统的分类 - 18 -
4.2.3捷联惯导系统的精度 - 18 -
4.3 简单介绍使用新型陀螺仪的捷联导航系统 - 19 -
4.3.1 用静电陀螺仪的捷联式系统 - 19 -
4.3.2 用环形激光陀螺仪的捷联式惯导系统 - 19 -
4.3.3 用光纤陀螺仪的捷联式惯导系统 - 20 -
4.4 捷联式惯性导航系统与平台式惯性导航系统的比较 - 20 -
4.5 捷联式惯性导航系统的前景 - 21 -
5.组合导航系统 - 23 -
5.1 组合导航基本概念 - 23 -
5.2组合导航系统实例 - 23 -
5.3 惯性导航系统（INS）基本原理 5.3.1 INS原理 - 24 -
6．心得体会 - 29 -
结论 - 33 -
致  谢 - 34 -
参考文献 - 35 -