|
關(guān)于我們
 書單推薦 新書推薦 |
捷聯(lián)慣性/衛(wèi)星組合導(dǎo)航系統(tǒng)實(shí)驗(yàn)教程 
定 價(jià)：78 元
9 7 4 8 4 7 5 1 4 2 4 1 6 讀者對(duì)象:本書可作為導(dǎo)航、制導(dǎo)、自動(dòng)控制及測(cè)繪等領(lǐng)域的研究者和工程技術(shù)人員的參考書，也可作為高等院校相關(guān)專業(yè)高年級(jí)本科生和研究生的實(shí)驗(yàn)教材。 
慣性導(dǎo)航與衛(wèi)星導(dǎo)航各有所長，在性能上具有很強(qiáng)的互補(bǔ)性。因此，慣性導(dǎo)航、衛(wèi)星導(dǎo)航以及慣性/衛(wèi)星組合導(dǎo)航在國防以及國民經(jīng)濟(jì)的各個(gè)領(lǐng)域得到了廣泛應(yīng)用，本書正是為加強(qiáng)這些技術(shù)領(lǐng)域創(chuàng)新性人才實(shí)驗(yàn)實(shí)踐環(huán)節(jié)的培養(yǎng)需求而撰寫的。全書主要內(nèi)容共分為四部分：第一部分為導(dǎo)航實(shí)驗(yàn)的基礎(chǔ)知識(shí)，主要包括導(dǎo)航系統(tǒng)常用的測(cè)試設(shè)備、實(shí)驗(yàn)數(shù)據(jù)的基本處理方法等；第二部分為慣性導(dǎo)航相關(guān)實(shí)驗(yàn)，主要包括慣性傳感器件的標(biāo)定、慣性導(dǎo)航系統(tǒng)的初始對(duì)準(zhǔn)、慣性導(dǎo)航系統(tǒng)的導(dǎo)航解算等系列實(shí)驗(yàn)；第三部分為衛(wèi)星導(dǎo)航相關(guān)實(shí)驗(yàn)，主要包括衛(wèi)星導(dǎo)航接收機(jī)基帶信號(hào)處理以及衛(wèi)星導(dǎo)航系統(tǒng)定位、測(cè)速、定姿等系列實(shí)驗(yàn)；第四部分為慣性/衛(wèi)星組合導(dǎo)航相關(guān)實(shí)驗(yàn)，重點(diǎn)圍繞 SINS/GNSS 松組合、緊組合、超緊組合和深組合四種組合模式設(shè)計(jì)了層次多樣的綜合性、創(chuàng)新性實(shí)驗(yàn)內(nèi)容。
王新龍，北京航空航天大學(xué)教授，宇航學(xué)院航天導(dǎo)航制導(dǎo)與控制系副主任，校級(jí)一流課程《慣性導(dǎo)航基礎(chǔ)》負(fù)責(zé)人，獲得校級(jí)教學(xué)成果二等獎(jiǎng)4次（排名1）、三等獎(jiǎng)3次（排名1）；2010年獲北京航空航天大學(xué)三育人先進(jìn)個(gè)人稱號(hào)；10次獲得校級(jí)優(yōu)秀碩士學(xué)位論文指導(dǎo)教師稱號(hào)。出版教材及專著多本，已負(fù)責(zé)完成了包括5項(xiàng)國家自然科學(xué)基金、國家重點(diǎn)研發(fā)計(jì)劃、國家863高新技術(shù)項(xiàng)目、國家科技重點(diǎn)專項(xiàng)基金、中國博士后基金、航天創(chuàng)新基金、航天支撐基金、航空基金、國防基礎(chǔ)預(yù)研、國防重點(diǎn)實(shí)驗(yàn)室基金等科研項(xiàng)目四十余項(xiàng)。
第 1 章 導(dǎo)航實(shí)驗(yàn)的基礎(chǔ)知識(shí)···············································································.1
1.1 導(dǎo)航系統(tǒng)常用的測(cè)試設(shè)備 ········································································.1 1.1.1 分度頭 ··························································································.1 1.1.2 雙軸位置轉(zhuǎn)臺(tái)···················································································.2 1.1.3 三軸速率轉(zhuǎn)臺(tái)···················································································.3 1.1.4 離心機(jī) ··························································································.4 1.1.5 溫度控制箱 ·····················································································.5 1.1.6 GNSS 信號(hào)模擬器 ··············································································.5 1.1.7 RTK 基站 ·······················································································.7 1.2 實(shí)驗(yàn)數(shù)據(jù)的基本處理方法 ········································································.9 1.2.1 最優(yōu)估計(jì)基本概念 ·············································································.9 1.2.2 最小二乘估計(jì)···················································································10 1.2.3 卡爾曼濾波算法 ················································································15 1.2.4 蒙特卡洛法 ·····················································································20 1.2.5 一元線性回歸···················································································22 1.2.6 有色噪聲及相關(guān)分析法 ········································································24 1.2.7 時(shí)間序列分析法 ················································································26 1.3 卡爾曼濾波在組合導(dǎo)航系統(tǒng)中的應(yīng)用方法···················································30 1.3.1 直接法和間接法 ················································································30 1.3.2 利用卡爾曼濾波器的估值對(duì)慣性導(dǎo)航系統(tǒng)進(jìn)行校正的方法 ·································33 第 2 章 慣性傳感器件標(biāo)定系列實(shí)驗(yàn)······································································35 2.1 慣性傳感器件的數(shù)學(xué)模型 ········································································35 2.1.1 陀螺儀漂移數(shù)學(xué)模型···········································································36 2.1.2 加速度計(jì)的數(shù)學(xué)模型···········································································37 2.2 光纖陀螺儀的靜態(tài)漂移性能測(cè)試實(shí)驗(yàn)·························································38 2.2.1 陀螺儀靜態(tài)測(cè)漂的基本原理 ···································································38 2.2.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備···········································································39 2.2.3 實(shí)驗(yàn)步驟及操作說明···········································································41 2.3 光纖陀螺儀零偏和標(biāo)度因數(shù)的動(dòng)態(tài)標(biāo)定實(shí)驗(yàn)················································44 VI 捷聯(lián)慣性/衛(wèi)星組合導(dǎo)航系統(tǒng)實(shí)驗(yàn)教程 2.3.1 陀螺儀動(dòng)態(tài)標(biāo)定基本原理······································································44 2.3.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備···········································································45 2.3.3 實(shí)驗(yàn)步驟及操作說明···········································································47 2.4 光纖陀螺儀的溫度特性測(cè)試實(shí)驗(yàn)·······························································47 2.4.1 光纖陀螺儀零偏和標(biāo)度因數(shù)的溫度特性測(cè)試原理············································48 2.4.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備···········································································48 2.4.3 實(shí)驗(yàn)步驟及操作說明···········································································50 2.5 基于 Allan 方差的光纖陀螺儀隨機(jī)誤差分析實(shí)驗(yàn)···········································51 2.5.1 Allan 方差分析方法的基本原理 ·······························································51 2.5.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備···········································································55 2.5.3 實(shí)驗(yàn)步驟及操作說明···········································································56 2.6 基于重力場(chǎng)的加速度計(jì)誤差標(biāo)定實(shí)驗(yàn)·························································57 2.6.1 基于重力場(chǎng)的加速度計(jì)誤差標(biāo)定基本原理 ···················································57 2.6.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備···········································································59 2.6.3 實(shí)驗(yàn)步驟及操作說明···········································································60 2.7 基于離心機(jī)的加速度計(jì)誤差標(biāo)定實(shí)驗(yàn)·························································61 2.7.1 基于離心機(jī)的加速度計(jì)誤差標(biāo)定基本原理 ···················································61 2.7.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備···········································································63 2.7.3 實(shí)驗(yàn)步驟及操作說明···········································································64 第 3 章 捷聯(lián)慣導(dǎo)系統(tǒng)初始對(duì)準(zhǔn)系列實(shí)驗(yàn)································································65 3.1 靜基座初始對(duì)準(zhǔn)實(shí)驗(yàn) ··············································································65 3.1.1 靜基座初始對(duì)準(zhǔn)的基本實(shí)現(xiàn)原理······························································65 3.1.2 靜基座初始對(duì)準(zhǔn)精度評(píng)估方法 ································································71 3.1.3 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備···········································································74 3.1.4 實(shí)驗(yàn)步驟及操作說明···········································································77 3.2 多位置初始對(duì)準(zhǔn)實(shí)驗(yàn) ··············································································79 3.2.1 多位置初始對(duì)準(zhǔn)的基本實(shí)現(xiàn)原理······························································80 3.2.2 最優(yōu)多位置初始對(duì)準(zhǔn)方法······································································81 3.2.3 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備···········································································89 3.2.4 實(shí)驗(yàn)步驟及操作說明···········································································90 3.3 晃動(dòng)基座初始對(duì)準(zhǔn)實(shí)驗(yàn) ···········································································91 3.3.1 晃動(dòng)基座初始對(duì)準(zhǔn)基本原理 ···································································92 3.3.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備···········································································98 3.3.3 實(shí)驗(yàn)步驟及操作說明········································································.100 目 錄 VII 3.4 動(dòng)基座傳遞對(duì)準(zhǔn)實(shí)驗(yàn) ···········································································.101 3.4.1 動(dòng)基座傳遞對(duì)準(zhǔn)基本原理···································································.101 3.4.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備········································································.115 3.4.3 實(shí)驗(yàn)步驟及操作說明········································································.116 第 4 章 捷聯(lián)慣導(dǎo)系統(tǒng)導(dǎo)航解算系列實(shí)驗(yàn)·····························································.119 4.1 SINS 的導(dǎo)航解算方程··········································································.119 4.1.1 姿態(tài)方程·····················································································.120 4.1.2 位置和速度方程 ·············································································.125 4.1.3 SINS 導(dǎo)航解算方框圖·······································································.128 4.2 SINS 導(dǎo)航解算數(shù)字仿真實(shí)驗(yàn)·································································.130 4.2.1 SINS 數(shù)字仿真平臺(tái)工作原理 ·······························································.131 4.2.2 飛行軌跡發(fā)生器 ·············································································.132 4.2.3 慣性器件仿真器 ·············································································.140 4.2.4 SINS 導(dǎo)航解算仿真器·······································································.143 4.2.5 誤差處理器 ··················································································.149 4.2.6 SINS 性能仿真驗(yàn)證 ·········································································.149 4.3 SINS 靜基座導(dǎo)航解算誤差驗(yàn)證實(shí)驗(yàn)························································.157 4.3.1 SINS 靜基座導(dǎo)航解算誤差傳播特性 ·······················································.157 4.3.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備········································································.170 4.3.3 實(shí)驗(yàn)步驟及操作說明········································································.172 4.4 SINS 動(dòng)基座導(dǎo)航解算誤差驗(yàn)證實(shí)驗(yàn)························································.174 4.4.1 SINS 動(dòng)基座導(dǎo)航解算誤差方程 ····························································.174 4.4.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備········································································.179 4.4.3 實(shí)驗(yàn)步驟及操作說明········································································.180 第 5 章 衛(wèi)星導(dǎo)航基礎(chǔ)系列實(shí)驗(yàn)·········································································.183 5.1 GNSS 信號(hào)的結(jié)構(gòu)···············································································.183 5.1.1 GNSS 信號(hào)的構(gòu)成 ···········································································.183 5.1.2 GNSS 信號(hào)的偽碼 ···········································································.184 5.1.3 GNSS 信號(hào)的導(dǎo)航電文······································································.186 5.2 衛(wèi)星導(dǎo)航時(shí)間系統(tǒng)轉(zhuǎn)換實(shí)驗(yàn)··································································.188 5.2.1 衛(wèi)星導(dǎo)航時(shí)間系統(tǒng)轉(zhuǎn)換的基本原理 ························································.188 5.2.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備········································································.192 5.2.3 實(shí)驗(yàn)步驟及操作說明········································································.194 VIII 捷聯(lián)慣性/衛(wèi)星組合導(dǎo)航系統(tǒng)實(shí)驗(yàn)教程 5.3 衛(wèi)星導(dǎo)航空間坐標(biāo)系統(tǒng)轉(zhuǎn)換實(shí)驗(yàn)····························································.198 5.3.1 衛(wèi)星導(dǎo)航空間坐標(biāo)系統(tǒng)轉(zhuǎn)換的基本原理 ···················································.198 5.3.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備········································································.204 5.3.3 實(shí)驗(yàn)步驟及操作說明········································································.205 5.4 GNSS 導(dǎo)航衛(wèi)星軌道計(jì)算實(shí)驗(yàn)································································.208 5.4.1 利用星歷確定 GNSS 導(dǎo)航衛(wèi)星軌道的基本原理 ···········································.208 5.4.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備········································································.214 5.4.3 實(shí)驗(yàn)步驟及操作說明········································································.215 5.5 GNSS 信號(hào)電離層延遲改正實(shí)驗(yàn)·····························································.217 5.5.1 電離層延遲及其改正方法···································································.217 5.5.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備········································································.222 5.5.3 實(shí)驗(yàn)步驟及操作說明········································································.223 5.6 GNSS 信號(hào)對(duì)流層延遲改正實(shí)驗(yàn)·····························································.225 5.6.1 對(duì)流層延遲及其改正方法···································································.225 5.6.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備········································································.227 5.6.3 實(shí)驗(yàn)步驟及操作說明········································································.229 5.7 GNSS 信號(hào)接收功率驗(yàn)證實(shí)驗(yàn)································································.231 5.7.1 GNSS 信號(hào)接收功率驗(yàn)證實(shí)驗(yàn)的基本原理 ·················································.231 5.7.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備········································································.233 5.7.3 實(shí)驗(yàn)步驟及操作說明········································································.235 第 6 章 衛(wèi)星導(dǎo)航接收機(jī)基帶信號(hào)處理系列實(shí)驗(yàn)····················································.237 6.1 GNSS 信號(hào)捕獲實(shí)驗(yàn)············································································.237 6.1.1 GNSS 信號(hào)捕獲的基本原理·································································.237 6.1.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備········································································.242 6.1.3 實(shí)驗(yàn)步驟及操作說明········································································.244 6.2 GNSS 信號(hào)跟蹤實(shí)驗(yàn)············································································.248 6.2.1 GNSS 信號(hào)跟蹤的基本原理·································································.249 6.2.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備········································································.256 6.2.3 實(shí)驗(yàn)步驟及操作說明········································································.257 6.3 GNSS 信號(hào)導(dǎo)航電文解調(diào)實(shí)驗(yàn)································································.259 6.3.1 GNSS 信號(hào)導(dǎo)航電文解調(diào)基本原理·························································.259 6.3.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備········································································.266 6.3.3 實(shí)驗(yàn)步驟及操作說明········································································.267 目 錄 IX 第 7 章 衛(wèi)星導(dǎo)航系統(tǒng)定位、測(cè)速、定姿系列實(shí)驗(yàn)·················································.269 7.1 衛(wèi)星導(dǎo)航絕對(duì)單點(diǎn)定位實(shí)驗(yàn)··································································.269 7.1.1 衛(wèi)星導(dǎo)航絕對(duì)單點(diǎn)定位基本原理···························································.269 7.1.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備········································································.274 7.1.3 實(shí)驗(yàn)步驟及操作說明········································································.276 7.2 衛(wèi)星導(dǎo)航差分相對(duì)定位實(shí)驗(yàn)··································································.278 7.2.1 衛(wèi)星導(dǎo)航差分相對(duì)定位基本原理···························································.279 7.2.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備········································································.283 7.2.3 實(shí)驗(yàn)步驟及操作說明········································································.285 7.3 衛(wèi)星導(dǎo)航測(cè)速實(shí)驗(yàn) ··············································································.287 7.3.1 多普勒測(cè)速原理 ·············································································.287 7.3.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備········································································.289 7.3.3 實(shí)驗(yàn)步驟及操作說明········································································.290 7.4 衛(wèi)星導(dǎo)航定姿實(shí)驗(yàn) ··············································································.291 7.4.1 GNSS 定姿基本原理 ········································································.291 7.4.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備········································································.295 7.4.3 實(shí)驗(yàn)步驟及操作說明········································································.296 第 8 章 SINS/GNSS 松、緊組合導(dǎo)航系列實(shí)驗(yàn)······················································.298 8.1 SINS/GNSS 松組合導(dǎo)航實(shí)驗(yàn) ·································································.298 8.1.1 SINS/GNSS 松組合導(dǎo)航的基本原理························································.298 8.1.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備········································································.303 8.1.3 實(shí)驗(yàn)步驟及操作說明········································································.305 8.2 SINS/GNSS 緊組合導(dǎo)航實(shí)驗(yàn) ·································································.309 8.2.1 SINS/GNSS 緊組合導(dǎo)航的基本原理························································.309 8.2.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備········································································.313 8.2.3 實(shí)驗(yàn)步驟及操作說明········································································.315 8.3 SINS/GNSS 松、緊組合導(dǎo)航的性能對(duì)比實(shí)驗(yàn) ············································.317 8.3.1 SINS/GNSS 松、緊組合導(dǎo)航的性能對(duì)比 ··················································.317 8.3.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備········································································.319 8.3.3 實(shí)驗(yàn)步驟及操作說明········································································.321 第 9 章 SINS/GNSS 超緊組合系列實(shí)驗(yàn)·······························································.324 9.1 SINS/GNSS 超緊組合導(dǎo)航系統(tǒng)的基本原理 ···············································.324 9.1.1 SINS/GNSS 超緊組合模式 ··································································.324 X 捷聯(lián)慣性/衛(wèi)星組合導(dǎo)航系統(tǒng)實(shí)驗(yàn)教程 9.1.2 SINS/GNSS 超緊組合導(dǎo)航系統(tǒng)的結(jié)構(gòu) ·····················································.325 9.2 SINS/GNSS 超緊組合信號(hào)捕獲實(shí)驗(yàn) ························································.326 9.2.1 SINS 輔助 GNSS 信號(hào)捕獲的基本原理 ····················································.326 9.2.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備········································································.332 9.2.3 實(shí)驗(yàn)步驟及操作說明········································································.334 9.3 SINS/GNSS 超緊組合信號(hào)跟蹤實(shí)驗(yàn) ························································.336 9.3.1 SINS 輔助 GNSS 信號(hào)跟蹤的基本原理 ····················································.336 9.3.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備········································································.341 9.3.3 實(shí)驗(yàn)步驟及操作說明········································································.342 9.4 SINS/GNSS 超緊組合誤差建模與性能驗(yàn)證實(shí)驗(yàn) ·········································.344 9.4.1 SINS/GNSS 超緊組合誤差建模與方案設(shè)計(jì)················································.344 9.4.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備········································································.355 9.4.3 實(shí)驗(yàn)步驟及操作說明········································································.356 第 10 章 SINS/GNSS 深組合系列實(shí)驗(yàn) ································································.358 10.1 GNSS 信號(hào)矢量跟蹤實(shí)驗(yàn) ····································································.358 10.1.1 GNSS 信號(hào)矢量跟蹤原理··································································.358 10.1.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備·······································································.361 10.1.3 實(shí)驗(yàn)步驟及操作說明·······································································.363 10.2 基于矢量跟蹤的 SINS/GNSS 深組合系統(tǒng)················································.365 10.2.1 深組合數(shù)據(jù)處理方法·······································································.365 10.2.2 SINS/GNSS 相干深組合模型與結(jié)構(gòu) ······················································.367 10.2.3 SINS/GNSS 非相干深組合建模與設(shè)計(jì)····················································.373 10.3 SINS/GNSS 深組合導(dǎo)航系統(tǒng)性能驗(yàn)證實(shí)驗(yàn)··············································.379 10.3.1 自適應(yīng) SINS/GNSS 深組合導(dǎo)航系統(tǒng)方案設(shè)計(jì) ···········································.379 10.3.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備·······································································.387 10.3.3 實(shí)驗(yàn)步驟及操作說明·······································································.389 10.4 SINS/GNSS 深組合導(dǎo)航系統(tǒng)的完好性監(jiān)測(cè)實(shí)驗(yàn) ·······································.390 10.4.1 GNSS 接收機(jī)自主完好性監(jiān)測(cè)的基本原理················································.390 10.4.2 實(shí)驗(yàn)?zāi)康呐c實(shí)驗(yàn)設(shè)備·······································································.396 10.4.3 實(shí)驗(yàn)步驟及操作說明·······································································.397 附錄 ·············································································································.400 附錄 1 隨機(jī)誤差概率分布與基本理論 ··························································.400 參考文獻(xiàn) ·······································································································.408
你還可能感興趣
我要評(píng)論
|
