严恭敏_博士学位论文

IGPSSINS/DRII’’s’“”.............................................................................................1..........................................................13.................................................................34..........................................................48................................................69...................................................90.........................................................................114.........................................................................................129.....................................................................................................132.................................................................................................145..................154.....................................................................................................156[1-8]12[2]D%*mrad≈mil0.250.25≈0.240.25~11~2≈0.95~1.91~55~10≈4.7~9.5*D150607090[2]GPSGPSGPSGPSGPSGPS/GPSGPSGPSGPSGPS/GPSSIGMA30[3]GPSGPSGPSGPS[10]2DC91-20010m5m0.8mil60min10minA5minBIPADS-17m5m0.8mil60min10minGWX-110m5m25min10min10m5m0.8mil60min10minLGS-10.2%D10m1.0mil20minWZ-7310.2%D3.0mil15min3min10min[11][9,10][2][12][2][8]1.3-1/mm/kg/mil/min6557754952020mCEP11σ3022127338120.451245604272790.25%0.77.5MK25404703005130mCEP1.3FNA4-1547.50.7%SIGMA305m~0.1%0.8FNA615350.16%0.922ADATSCLANSMKIV360170270250.2%2.51σ103.41222.5[8]SINS/DR[12,13][14-17]IMU[31-47,110]GPSDR/GPSGPS[17-19,48-54][86-88][61,62,89,90][61,62][31-47,110]ºoxnynznθγθγψθγCCCC=bg⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡−⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡−⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡−=1000cossin0sincoscossin0sincos0001cos0sin010sin0cosψψψψθθθθγγγγ⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡−−−−+−+=θγθψγψγθψγψγθθψθψθγθψγψγθψγψγcoscossincoscossinsinsinsincoscossinsincoscoscossincossinsincossinsincossinsinsincoscosT)(bggbnbCCC==⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡−−−+−−+=θγθθγθψγψγθψθψγψγθψγψγθψθψγψγcoscossincossinsincoscossinsincoscossincossinsincossinsincoscossincossinsinsinsincoscos2λeeezyx'''eeezyx''''''eeezyx)('''''''''gggeeezyxzyx''ez'eyezλL−°90°90''eeeegegeCCCC=⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡−⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡−⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡−=1000cossin0sincossin0cos010cos0sin100001010λλλλLLLL⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡−−−=LLLLLLsinsincoscoscoscossinsincossin0cossinλλλλλλ-1bg-2egT)(geegenCCC==⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡−−−=LLLLLLsincos0sincossinsincoscoscoscossinsinλλλλλλnbqninqbibnbnbqωωqq2121−=&nennieninωωω+=[]Tsincos0LLieienieωω=ωnCNnENnEMnNnenLhRvhRvhRvvFω=⎥⎦⎤⎢⎣⎡+++−=Ttan⎥⎥⎥⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎢⎢⎢⎣⎡+++−=00tan1001010LhRhRhRNNMCFnbqbibωh[]TnUnNnEnvvv=vq)(VV[][]TT0)(zyxzyxq=MRNR)sin321(2LffRReM+−≈)sin1(2LfRReN+≈eRf2nnienennnsfnvωωgfv×+−+=)2(&bsfnbnsffCf=[]T00gn−=gbsffghLLgg000003086.0)](sin0000232718.0)(sin00527094.01[420−++=7803267714.90=g3)(×=nenenenωCC&nUvh=&)(×VV⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡−−−=×⎥⎥⎥⎦⎤⎢⎢⎢⎣⎡000)(xyxzyzzyx)1()()1()1()()1()()(−−−−=mbmbmnmbmnmnmnmbiiiiiiiiqqqq)1()1(−−mnmbiiq1−mtbn1−mtnmb)1(−q)()(mnmbiiqmtnmb)(q)()1(mnmnii−qin1−mtmt)(tninω)1()(−mbmbiiqib1−mtmt)(tbibω)(tninω)(tbibω)1()(−mbmbiiq1)()1(mnmnii−q)(tninωmmttt≤≤−1n1−mtmtmς∫−=mmttninmdtt1)(ως)(tninω)(tninω1−mtmt)2(1−−mmninttω21−mninω)(212121tnmCmniemninvFωω−−−+≈21−mnieω21−mCFTmiemiemnieLL⎥⎦⎤⎢⎣⎡=−−−212121sincos0ωωω⎥⎥⎥⎥⎥⎥⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎢⎢⎢⎢⎢⎢⎣⎡+++−=−−−−−−−−00tan10010102121212121212121mmmNmmNmmMmCLhRhRhRF21211212123)(21ˆ−−−−−−−=−+=mmmmmmLLLLLL21212123ˆ−−−−=mmmhhh)sin321(21221−−+−≈memMLeeRR)sin1(21221−−+≈memNLeRR∫∫−−−−+≈=mmmmttnmCmniettninmdttdtt11)]([)(2121vFωως∫−−−+=mmttnmCmmniedttT1)(2121vFωnmmCmmnieT∆RFω2121−−+=1−−=mmmttTnm∆R1−mtmtnm2−∆Rnm1−∆Rnm∆Rnmnmnmnmnmnm212112)(ˆ−−−−−−=−+=∆R∆R∆R∆R∆RR∆2)1()(−mbmbiiq)(tbibωmΦ1−mtmt∫−=mmttbibmdtt1)(ωΦ[110])(3221∆θ∆θ∆θΦ×+=mm1∆θ2∆θ1−mt21−mt21−mtmt21∆θ∆θ∆θ+=mmςmΦqV)()1(mnmnii−q)1()(−mbmbiiq2sin2cosVVVVq+=ncormgmnsfmnmn/1∆v∆vvv++=−∫−×+−=mmttnnienennncormgdt1)2(/vωωg∆v/∫−=mmttbsfnbmnsfdt1fC∆v1−mnvmnv1//1−mtmtnieωnenωmT1−mtmt∫−×+−=mmttnnienennncormgdtt1)()2(/vωωg∆v∫−×+−=−−−mmttnmniemnenmndtt1)()2(212121vωωg∫−×+−=−−−−mmttnmniemnmCmmndttT1)()2(21212121vωvFgnmmniemnmCmmnT∆RωvFg×+−=−−−−)2(2121212121211212123)(21ˆ−−−−−−−=−+=mnmnmnmnmnmnvvvvvvTmmng⎥⎦⎤⎢⎣⎡=−−212100g21214212021000003086.0)](sin0000232718.0)(sin00527094.01[−−−−−++=mmmmhLLgg21−mnieω21−mCFnmR∆2nbC)(tiinbCbsff)(tbsff∫−=mmttbsfnbmnsfdt1fC∆v∫−−−−−=mmiiiiiittbsfmbtbmnmbtnmndtt1)()1()()1()1()()1(fCCC)1()1(−−mnmbiiC1−mtnmb)1(−Cnmb)1(−q)()1(tnmnii−Cin1−mttmmttt≤≤−1)(tninω)()()1()()1()1()1(ttbsfmbtbmnmbmnsfiiiifCCf−−−−=∫−−−=mmiittmnsftnmnmnsfdtt1)()1()()1(fC∆v)(tninωmT)()1(tnmn−C)()()1(IC−−tnmnmmmnmntnmnTtt1)()1()()1()(−−−−−≈−ICIC)()()()()1()1()()1()1()()1(tttmnsfmnsftnmnmnsftnmniiii−−−−−+−=ffICfC)()()1()1()()1(tTttmnsfmnsfmmmmnmnii−−−+−−≈ffIC)1()1()(−−≈mnsfmmnsft∆f∆f)1(−mnsfm∆fmt∫−−−−+−−=mmiittmnsfmmmnsfmmnmnmnsfdttTtt1)()()1()1()()1(ffIC∆v∫−−−−+⋅−=mmiittmnsfmmnsfmmnmndttT1)()(21)1()1()()1(ffIC)()1(mnmn−Cmς)()()1(×−=−mmnmnςIC)()()1(×−=−−mmnmnςIC∫−=mmttninmdtt1)(ωςmnmbmmbsfmmnmbmmnsfmTT∆vCfCf)1()1()1()1()1(−−−−−≈⋅=⋅m∆v)1()1()(21−−+×−=mnsfmmnmbmmnsf∆v∆vCς∆v)1()1()1()()1()1()1(1)(−−−−−−==∫−mbsfmnmbttbsfmbtbmnmbmnsfmmmiiiidtt∆vCfCC∆v∫−−−=mmiittbsfmbtbmbsfmdt1)1()()1(fC∆v[110]sculmrotmmmbsfm∆v∆v∆v∆v++=−)1(∫−=mmttbibmdtt1)(ω∆θ∫−=mmttbsfmdtt1)(f∆vmmrotm∆v∆θ∆v