| 基于高精度三轴转台的GNSS/INS组合导航姿态性能自动化测试评估方法研究CSCD |
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| 引用本文： | 王剑平,潘树国,高旺,喻国荣,贺留杰,王浩.基于高精度三轴转台的GNSS/INS组合导航姿态性能自动化测试评估方法研究CSCD[J].全球定位系统,2022,47(3):79-84. |
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| 作者姓名： | 王剑平 潘树国 高旺 喻国荣 贺留杰 王浩 |
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| 作者单位： | 1.东南大学 仪器科学与工程学院, 南京 210096 |
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| 基金项目： | 国家自然科学基金 (41774027) |
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| 摘 要： | 目前全球卫星导航系统/惯性导航系统(GNSS/INS)组合系统性能测试评估技术存在评价方式单一,数据自动化处理程度不高等问题.针对系统的姿态性能,研究了GNSS/INS组合导航姿态性能动态测试评估新方法,并研发了相应的自动化控制测试评估软件.该方法基于高精度三轴动态基准仿真转台进行,首先通过多转位、多姿态运动场景的任务进行测试,采集转台三轴运动姿态数据与组合导航系统输出数据,然后利用Thompson奇异值剔除法对实测数据进行处理,最后结合转台实测数据进行不确定度分析从而完成测试评估工作.针对微机电系统(MEMS)组合导航产品开展了两组测试,实测结果表明:该方法可以较好地抑制组合导航系统中出现的奇异值点,同时转台的不确定度值均在0.2″以内,验证了该测试评估方法的高可行性与可靠性.
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| 关 键 词： | 全球卫星导航系统/惯性导航系统(GNSS/INS) 测试评估 误差分析 不确定度分析 可视化 |
| 收稿时间： | 2021-12-09 |
Research on automatic test and evaluation method of GNSS/INS Integrated Navigation Attitude performance based on high-precision three-axis turntable |
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| Institution: | 1.School of Instrument Science and Engineering, Southeast University, Nanjing 210096, China2.School of Transportation, Southeast University, Nanjing 210096, China3.College of marine technology and surveying and mapping, Jiangsu ocean university, Lianyungang 222005, China |
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| Abstract: | At present, for the Global Navigation Satellite System /Inertial Navigation System (GNSS/INS) performance test and evaluation the evaluation method is single and automatic data processing is still at a low level. Aiming at the attitude performance evaluation of the system, this paper studies a new dynamic test and evaluation method of GNSS/INS performance, and develops corresponding automatic control test and evaluation software. Based on the high-precision three-axis dynamic benchmark simulation turntable, this method first tests through the task of multi rotation and multi attitude motion scene, collects the three-axis motion attitude data of turntable and the output data of integrated navigation system, then processes the measured data by Thompson singular value elimination method, and finally analyzes the uncertainty combined with the measured data of turntable so as to complete the test and evaluation work. In this paper two groups of tests are carried out on a Micro Electro Mechanical System (MEMS) integrated navigation product. Results show that this method can better suppress the singular value points in the integrated navigation system, and the uncertainty values of the turntable are within 0.2", which verifies the high feasibility and reliability of the test and evaluation method. |
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