基于慣性-多普勒組合導航的風速風向測量研究.pdf

1、南京航空航天大學碩士學位論文基于慣性多普勒組合導航的風速風向測量研究姓名：劉偉申請學位級別：碩士專業(yè)：精密儀器及機械指導教師：趙偉201101基于慣性多普勒組合導航的風速風向測量研究IIABSTRACTThereisanincreasingapplicationoftheunmannedaircraftvehicle(UAV)inthemilitarycivilianareasHoweverUAV’sflightperfmancesar

2、econstantlyimpactedbythewindfield.Fthisreasonatechnologyofthewindmeasuringispresentedinthisthesis.Thewindmeasuringmethodofplanevecttriangleisprovedtobemesuitableflongendurancelargescalecontinuousflightisabletoimprovethep

3、erfmanceoftheflightsafetybasedonanalyzingthecurrentseveralwindmeasuringmethods.Theprincipletheerrsourcesofthemethodareinvestigatedtheerrmodelsofwindspeeddirectionmeasuringareestablishedstimulatedinthisthesis.Airspeedmeas

4、uringerristheprimaryfactinalltheerrsinthemeasurementofwindspeed.Theairspeederrmodelisestablishedonthebasisofanalyzingairspeederr.Thesensitivityoferrsisstudiedbyairspeederrmodelsimulationthestaticpressureerrisdecidedasthe

5、mainfactinfluencingairspeederrthemethodsofreducingerrsinengineeringaresuggested.Groundspeederrisanotherprimaryfactinalltheerrsinthemeasurementofwindspeed.TofurtherimprovetheprecisionofgroundspeedmeasuringtheINSaidedbyDop

6、plerisdesigned.HenceestimationapproachwhichcanestimatetheparameterofDopplervelocityromerrisalsostudiedinthisthesis.BasedoncrelationfunctionARMAmodelaneweffectiveapproachwhichcanestimatetheparameterofgausswhitenoisefirstd

7、erMarkovnoiseisproposed.Furthermeapriknowledgeofnoiseisnotneededwhichmeanstheapproachissuitableinmostsituations.Theapproachcanofferexactparameterofinertialsensinintegratednavigation.OnthisbasisthemathematicalmodelofINSDo

8、pplerintegratednavigationsystemisstudiedfpracticalDopplerinertialintegratednavigationsystemtheextendKalmanfilterwithobservationerrisproposed.Thecalculationofpracticaldatashowsthatthemethodcaneffectivelyimprovethevelocity

9、precisionofDopplerinertialintegratednavigationsystem.ThewindvelocitydatawithUAVcontainsmecontinuousoutliersthepridistributionofnoisestatisticsisknowninsufficiently.ToimprovetheprecisionofwindvelocityanadaptiveKalmanfilte

10、r(KF)algithmwithrestrainingoutliersisinvestigatedinthisthesis.AcompressibilityfunctionisintegratedtonewinfmationbasedonanalyzingthesimplifiedSageHusaadaptiveKalmanfilter(AKF)algithm.Accdingtothechangingofthevariancemeanv