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捷聯(lián)慣性/衛(wèi)星組合導航系統(tǒng)實驗教程 
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9 7 4 8 4 7 5 1 4 2 4 1 6 讀者對象:本書可作為導航、制導、自動控制及測繪等領域的研究者和工程技術人員的參考書，也可作為高等院校相關專業(yè)高年級本科生和研究生的實驗教材。 
慣性導航與衛(wèi)星導航各有所長，在性能上具有很強的互補性。因此，慣性導航、衛(wèi)星導航以及慣性/衛(wèi)星組合導航在國防以及國民經(jīng)濟的各個領域得到了廣泛應用，本書正是為加強這些技術領域創(chuàng)新性人才實驗實踐環(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：第一部分為導航實驗的基礎知識，主要包括導航系統(tǒng)常用的測試設備、實驗數(shù)據(jù)的基本處理方法等；第二部分為慣性導航相關實驗，主要包括慣性傳感器件的標定、慣性導航系統(tǒng)的初始對準、慣性導航系統(tǒng)的導航解算等系列實驗；第三部分為衛(wèi)星導航相關實驗，主要包括衛(wèi)星導航接收機基帶信號處理以及衛(wèi)星導航系統(tǒng)定位、測速、定姿等系列實驗；第四部分為慣性/衛(wèi)星組合導航相關實驗，重點圍繞 SINS/GNSS 松組合、緊組合、超緊組合和深組合四種組合模式設計了層次多樣的綜合性、創(chuàng)新性實驗內(nèi)容。
王新龍，北京航空航天大學教授，宇航學院航天導航制導與控制系副主任，校級一流課程《慣性導航基礎》負責人，獲得校級教學成果二等獎4次（排名1）、三等獎3次（排名1）；2010年獲北京航空航天大學三育人先進個人稱號；10次獲得校級優(yōu)秀碩士學位論文指導教師稱號。出版教材及專著多本，已負責完成了包括5項國家自然科學基金、國家重點研發(fā)計劃、國家863高新技術項目、國家科技重點專項基金、中國博士后基金、航天創(chuàng)新基金、航天支撐基金、航空基金、國防基礎預研、國防重點實驗室基金等科研項目四十余項。
第 1 章 導航實驗的基礎知識···············································································.1
1.1 導航系統(tǒng)常用的測試設備 ········································································.1 1.1.1 分度頭 ··························································································.1 1.1.2 雙軸位置轉(zhuǎn)臺···················································································.2 1.1.3 三軸速率轉(zhuǎn)臺···················································································.3 1.1.4 離心機 ··························································································.4 1.1.5 溫度控制箱 ·····················································································.5 1.1.6 GNSS 信號模擬器 ··············································································.5 1.1.7 RTK 基站 ·······················································································.7 1.2 實驗數(shù)據(jù)的基本處理方法 ········································································.9 1.2.1 最優(yōu)估計基本概念 ·············································································.9 1.2.2 最小二乘估計···················································································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 有色噪聲及相關分析法 ········································································24 1.2.7 時間序列分析法 ················································································26 1.3 卡爾曼濾波在組合導航系統(tǒng)中的應用方法···················································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慣性導航系統(tǒng)進行校正的方法 ·································33 第 2 章 慣性傳感器件標定系列實驗······································································35 2.1 慣性傳感器件的數(shù)學模型 ········································································35 2.1.1 陀螺儀漂移數(shù)學模型···········································································36 2.1.2 加速度計的數(shù)學模型···········································································37 2.2 光纖陀螺儀的靜態(tài)漂移性能測試實驗·························································38 2.2.1 陀螺儀靜態(tài)測漂的基本原理 ···································································38 2.2.2 實驗目的與實驗設備···········································································39 2.2.3 實驗步驟及操作說明···········································································41 2.3 光纖陀螺儀零偏和標度因數(shù)的動態(tài)標定實驗················································44 VI 捷聯(lián)慣性/衛(wèi)星組合導航系統(tǒng)實驗教程 2.3.1 陀螺儀動態(tài)標定基本原理······································································44 2.3.2 實驗目的與實驗設備···········································································45 2.3.3 實驗步驟及操作說明···········································································47 2.4 光纖陀螺儀的溫度特性測試實驗·······························································47 2.4.1 光纖陀螺儀零偏和標度因數(shù)的溫度特性測試原理············································48 2.4.2 實驗目的與實驗設備···········································································48 2.4.3 實驗步驟及操作說明···········································································50 2.5 基于 Allan 方差的光纖陀螺儀隨機誤差分析實驗···········································51 2.5.1 Allan 方差分析方法的基本原理 ·······························································51 2.5.2 實驗目的與實驗設備···········································································55 2.5.3 實驗步驟及操作說明···········································································56 2.6 基于重力場的加速度計誤差標定實驗·························································57 2.6.1 基于重力場的加速度計誤差標定基本原理 ···················································57 2.6.2 實驗目的與實驗設備···········································································59 2.6.3 實驗步驟及操作說明···········································································60 2.7 基于離心機的加速度計誤差標定實驗·························································61 2.7.1 基于離心機的加速度計誤差標定基本原理 ···················································61 2.7.2 實驗目的與實驗設備···········································································63 2.7.3 實驗步驟及操作說明···········································································64 第 3 章 捷聯(lián)慣導系統(tǒng)初始對準系列實驗································································65 3.1 靜基座初始對準實驗 ··············································································65 3.1.1 靜基座初始對準的基本實現(xiàn)原理······························································65 3.1.2 靜基座初始對準精度評估方法 ································································71 3.1.3 實驗目的與實驗設備···········································································74 3.1.4 實驗步驟及操作說明···········································································77 3.2 多位置初始對準實驗 ··············································································79 3.2.1 多位置初始對準的基本實現(xiàn)原理······························································80 3.2.2 最優(yōu)多位置初始對準方法······································································81 3.2.3 實驗目的與實驗設備···········································································89 3.2.4 實驗步驟及操作說明···········································································90 3.3 晃動基座初始對準實驗 ···········································································91 3.3.1 晃動基座初始對準基本原理 ···································································92 3.3.2 實驗目的與實驗設備···········································································98 3.3.3 實驗步驟及操作說明········································································.100 目 錄 VII 3.4 動基座傳遞對準實驗 ···········································································.101 3.4.1 動基座傳遞對準基本原理···································································.101 3.4.2 實驗目的與實驗設備········································································.115 3.4.3 實驗步驟及操作說明········································································.116 第 4 章 捷聯(lián)慣導系統(tǒng)導航解算系列實驗·····························································.119 4.1 SINS 的導航解算方程··········································································.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 導航解算方框圖·······································································.128 4.2 SINS 導航解算數(shù)字仿真實驗·································································.130 4.2.1 SINS 數(shù)字仿真平臺工作原理 ·······························································.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 性能仿真驗證 ·········································································.149 4.3 SINS 靜基座導航解算誤差驗證實驗························································.157 4.3.1 SINS 靜基座導航解算誤差傳播特性 ·······················································.157 4.3.2 實驗目的與實驗設備········································································.170 4.3.3 實驗步驟及操作說明········································································.172 4.4 SINS 動基座導航解算誤差驗證實驗························································.174 4.4.1 SINS 動基座導航解算誤差方程 ····························································.174 4.4.2 實驗目的與實驗設備········································································.179 4.4.3 實驗步驟及操作說明········································································.180 第 5 章 衛(wèi)星導航基礎系列實驗·········································································.183 5.1 GNSS 信號的結構···············································································.183 5.1.1 GNSS 信號的構成 ···········································································.183 5.1.2 GNSS 信號的偽碼 ···········································································.184 5.1.3 GNSS 信號的導航電文······································································.186 5.2 衛(wèi)星導航時間系統(tǒng)轉(zhuǎn)換實驗··································································.188 5.2.1 衛(wèi)星導航時間系統(tǒng)轉(zhuǎn)換的基本原理 ························································.188 5.2.2 實驗目的與實驗設備········································································.192 5.2.3 實驗步驟及操作說明········································································.194 VIII 捷聯(lián)慣性/衛(wèi)星組合導航系統(tǒng)實驗教程 5.3 衛(wèi)星導航空間坐標系統(tǒng)轉(zhuǎn)換實驗····························································.198 5.3.1 衛(wèi)星導航空間坐標系統(tǒng)轉(zhuǎn)換的基本原理 ···················································.198 5.3.2 實驗目的與實驗設備········································································.204 5.3.3 實驗步驟及操作說明········································································.205 5.4 GNSS 導航衛(wèi)星軌道計算實驗································································.208 5.4.1 利用星歷確定 GNSS 導航衛(wèi)星軌道的基本原理 ···········································.208 5.4.2 實驗目的與實驗設備········································································.214 5.4.3 實驗步驟及操作說明········································································.215 5.5 GNSS 信號電離層延遲改正實驗·····························································.217 5.5.1 電離層延遲及其改正方法···································································.217 5.5.2 實驗目的與實驗設備········································································.222 5.5.3 實驗步驟及操作說明········································································.223 5.6 GNSS 信號對流層延遲改正實驗·····························································.225 5.6.1 對流層延遲及其改正方法···································································.225 5.6.2 實驗目的與實驗設備········································································.227 5.6.3 實驗步驟及操作說明········································································.229 5.7 GNSS 信號接收功率驗證實驗································································.231 5.7.1 GNSS 信號接收功率驗證實驗的基本原理 ·················································.231 5.7.2 實驗目的與實驗設備········································································.233 5.7.3 實驗步驟及操作說明········································································.235 第 6 章 衛(wèi)星導航接收機基帶信號處理系列實驗····················································.237 6.1 GNSS 信號捕獲實驗············································································.237 6.1.1 GNSS 信號捕獲的基本原理·································································.237 6.1.2 實驗目的與實驗設備········································································.242 6.1.3 實驗步驟及操作說明········································································.244 6.2 GNSS 信號跟蹤實驗············································································.248 6.2.1 GNSS 信號跟蹤的基本原理·································································.249 6.2.2 實驗目的與實驗設備········································································.256 6.2.3 實驗步驟及操作說明········································································.257 6.3 GNSS 信號導航電文解調(diào)實驗································································.259 6.3.1 GNSS 信號導航電文解調(diào)基本原理·························································.259 6.3.2 實驗目的與實驗設備········································································.266 6.3.3 實驗步驟及操作說明········································································.267 目 錄 IX 第 7 章 衛(wèi)星導航系統(tǒng)定位、測速、定姿系列實驗·················································.269 7.1 衛(wèi)星導航絕對單點定位實驗··································································.269 7.1.1 衛(wèi)星導航絕對單點定位基本原理···························································.269 7.1.2 實驗目的與實驗設備········································································.274 7.1.3 實驗步驟及操作說明········································································.276 7.2 衛(wèi)星導航差分相對定位實驗··································································.278 7.2.1 衛(wèi)星導航差分相對定位基本原理···························································.279 7.2.2 實驗目的與實驗設備········································································.283 7.2.3 實驗步驟及操作說明········································································.285 7.3 衛(wèi)星導航測速實驗 ··············································································.287 7.3.1 多普勒測速原理 ·············································································.287 7.3.2 實驗目的與實驗設備········································································.289 7.3.3 實驗步驟及操作說明········································································.290 7.4 衛(wèi)星導航定姿實驗 ··············································································.291 7.4.1 GNSS 定姿基本原理 ········································································.291 7.4.2 實驗目的與實驗設備········································································.295 7.4.3 實驗步驟及操作說明········································································.296 第 8 章 SINS/GNSS 松、緊組合導航系列實驗······················································.298 8.1 SINS/GNSS 松組合導航實驗 ·································································.298 8.1.1 SINS/GNSS 松組合導航的基本原理························································.298 8.1.2 實驗目的與實驗設備········································································.303 8.1.3 實驗步驟及操作說明········································································.305 8.2 SINS/GNSS 緊組合導航實驗 ·································································.309 8.2.1 SINS/GNSS 緊組合導航的基本原理························································.309 8.2.2 實驗目的與實驗設備········································································.313 8.2.3 實驗步驟及操作說明········································································.315 8.3 SINS/GNSS 松、緊組合導航的性能對比實驗 ············································.317 8.3.1 SINS/GNSS 松、緊組合導航的性能對比 ··················································.317 8.3.2 實驗目的與實驗設備········································································.319 8.3.3 實驗步驟及操作說明········································································.321 第 9 章 SINS/GNSS 超緊組合系列實驗·······························································.324 9.1 SINS/GNSS 超緊組合導航系統(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)星組合導航系統(tǒng)實驗教程 9.1.2 SINS/GNSS 超緊組合導航系統(tǒng)的結構 ·····················································.325 9.2 SINS/GNSS 超緊組合信號捕獲實驗 ························································.326 9.2.1 SINS 輔助 GNSS 信號捕獲的基本原理 ····················································.326 9.2.2 實驗目的與實驗設備········································································.332 9.2.3 實驗步驟及操作說明········································································.334 9.3 SINS/GNSS 超緊組合信號跟蹤實驗 ························································.336 9.3.1 SINS 輔助 GNSS 信號跟蹤的基本原理 ····················································.336 9.3.2 實驗目的與實驗設備········································································.341 9.3.3 實驗步驟及操作說明········································································.342 9.4 SINS/GNSS 超緊組合誤差建模與性能驗證實驗 ·········································.344 9.4.1 SINS/GNSS 超緊組合誤差建模與方案設計················································.344 9.4.2 實驗目的與實驗設備········································································.355 9.4.3 實驗步驟及操作說明········································································.356 第 10 章 SINS/GNSS 深組合系列實驗 ································································.358 10.1 GNSS 信號矢量跟蹤實驗 ····································································.358 10.1.1 GNSS 信號矢量跟蹤原理··································································.358 10.1.2 實驗目的與實驗設備·······································································.361 10.1.3 實驗步驟及操作說明·······································································.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構 ······················································.367 10.2.3 SINS/GNSS 非相干深組合建模與設計····················································.373 10.3 SINS/GNSS 深組合導航系統(tǒng)性能驗證實驗··············································.379 10.3.1 自適應 SINS/GNSS 深組合導航系統(tǒng)方案設計 ···········································.379 10.3.2 實驗目的與實驗設備·······································································.387 10.3.3 實驗步驟及操作說明·······································································.389 10.4 SINS/GNSS 深組合導航系統(tǒng)的完好性監(jiān)測實驗 ·······································.390 10.4.1 GNSS 接收機自主完好性監(jiān)測的基本原理················································.390 10.4.2 實驗目的與實驗設備·······································································.396 10.4.3 實驗步驟及操作說明·······································································.397 附錄 ·············································································································.400 附錄 1 隨機誤差概率分布與基本理論 ··························································.400 參考文獻 ·······································································································.408
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