惯性导航与卫星导航各有所长，在性能上具有很强的互补性。因此，惯性导航、卫星导航以及惯性/卫星组合导航在国防以及国民经济的各个领域得到了广泛应用，本书正是为加强这些技术领域创新性人才实验实践环节的培养需求而撰写的。全书主要内容共分为四部分：第一部分为导航实验的基础知识，主要包括导航系统常用的测试设备、实验数据的基本处理方法等；第二部分为惯性导航相关实验，主要包括惯性传感器件的标定、惯性导航系统的初始对准、惯性导航系统的导航解算等系列实验；第三部分为卫星导航相关实验，主要包括卫星导航接收机基带信号处理以及卫星导航系统定位、测速、定姿等系列实验；第四部分为惯性/卫星组合导航相关实验，重点围绕 SINS/GNSS 松组合、紧组合、超紧组合和深组合四种组合模式设计了层次多样的综合性、创新性实验内容。

惯性导航是一种自主性强、隐蔽性好、抗干扰能力强、短时精度高的导航系统，能够独立提供载体所需的全部导航参数，但其最大的缺点是导航误差随时间积累；卫星导航具有全球性、全天候、高精度、实时定位等优点，但其存在着易受干扰、动态环境中可靠性差以及数据输出频率较低等不足之处。可见，惯性导航与卫星导航各有所长，在性能上具有很强的互补性，因此，惯性/卫星组合导航被认为是导航领域最为理想的组合方式。目前，惯性/卫星组合导航不仅应用于军事等领域，如飞机、航天器、导弹、舰船、各类战车，而且也应用于 民用领域，如大地测量、航空测量与摄影、车辆以及移动机器人等系统中。因此，惯性导航、卫星导航以及惯性/卫星组合导航在国防以及国民经济各个领域已得到广泛应用，本书正是为加强这些技术领域创新性人才实验实践环节的培养需求而撰写的。 此前，国内外出版了一些涉及惯性导航系统原理、卫星导航系统原理或惯性/卫星组合导航技术方面的教材与著作，这些教材与著作基本都是对惯性导航系统、卫星导航系统或惯性/卫星组合导航系统的理论方面进行介绍，而涉及惯性导航系统、卫星导航系统或惯性/卫星组合导航系统实验实践环节的教材却非常匮乏。但实验实践教学是高等教育中人才素质教育的一个重要环节，也是培养复合型、创新性人才的必要手段，对提高人才培养质量具有十分重要的意义和作用。 多年来，编者在本科生和研究生专业核心课程的教学实践过程中，对惯性导航、卫星导航以及惯性/卫星组合导航相关的课程理论与实验环节进行了系统探索与实践。本书是编者对这些教学成果和实践经验的系统汇总，同时又吸取了编者及课题组成员的最新科研成果，围绕惯性导航系统、卫星导航系统以及惯性/卫星组合导航系统实验实践环节的实验目的、实验原理、实验方法以及数据处理方法等方面进行了系统阐述。本书研究工作得到国家自然科学基金（61673040、61233005、61074157、60304006、61111130198）、航空科学基金（20170151002、2015ZC51038）、天地一体化信息技术国家重点实验开放基金（2015-SGIIT-KFJJ-DH-01）、重 点基础研究项目（2020-JCJQ-ZD-136-12）、试验技术项目（1700050405）、航天创新基金、航天支撑基金、北京航空航天大学博士研究生卓越学术基金等项目的资助，注重反映惯性/卫星组合导航技术的发展现状及今后的发展趋势。 此外，为了实现因材施教、分层次教学，本书还结合当前该领域国内外的发展前沿，将最新科技成果引入实验教学，开发设计了一系列具有航空、航天特色的基础类、综合类和创新类三个不同层次的实验内容。这些实验内容不仅实现了对基础理论的实践与验证，更重要的是实验实践环节可以启发学生领会惯性导航、卫星导航以及惯性/卫星组合导航的发展规律与发展脉络，使学生通过实验以加深对理论知识的深入理解和灵活应用，并可为学生将来从事相关领域的研究工作打下坚实的基础。 全书分为 10 章。第 1 章为导航实验的基础知识；第 2 章为惯性传感器件标定系列实验；第 3 章为捷联惯导系统初始对准系列实验；第 4 章为捷联惯导系统导航解算系列实验；第 5章为卫星导航基础系列实验；第 6 章为卫星导航接收机基带信号处理系列实验；第 7 章为卫星导航系统定位、测速、定姿系列实验；第 8 章为 SINS/GNSS 松、紧组合导航系列实验；第9 章为 SINS/GNSS 超紧组合系列实验；第 10 章为 SINS/GNSS 深组合系列实验。 尽管笔者力求使本书能更好地满足读者的要求，但因内容涉及面广，限于水平，书中难免有不足之处，诚望读者批评指正。

第 1 章 导航实验的基础知识···············································································.1 1.1 导航系统常用的测试设备 ········································································.1 1.1.1 分度头 ··························································································.1 1.1.2 双轴位置转台···················································································.2 1.1.3 三轴速率转台···················································································.3 1.1.4 离心机 ··························································································.4 1.1.5 温度控制箱 ·····················································································.5 1.1.6 GNSS 信号模拟器 ··············································································.5 1.1.7 RTK 基站 ·······················································································.7 1.2 实验数据的基本处理方法 ········································································.9 1.2.1 最优估计基本概念 ·············································································.9 1.2.2 最小二乘估计···················································································10 1.2.3 卡尔曼滤波算法 ················································································15 1.2.4 蒙特卡洛法 ·····················································································20 1.2.5 一元线性回归···················································································22 1.2.6 有色噪声及相关分析法 ········································································24 1.2.7 时间序列分析法 ················································································26 1.3 卡尔曼滤波在组合导航系统中的应用方法···················································30 1.3.1 直接法和间接法 ················································································30 1.3.2 利用卡尔曼滤波器的估值对惯性导航系统进行校正的方法 ·································33 第 2 章 惯性传感器件标定系列实验······································································35 2.1 惯性传感器件的数学模型 ········································································35 2.1.1 陀螺仪漂移数学模型···········································································36 2.1.2 加速度计的数学模型···········································································37 2.2 光纤陀螺仪的静态漂移性能测试实验·························································38 2.2.1 陀螺仪静态测漂的基本原理 ···································································38 2.2.2 实验目的与实验设备···········································································39 2.2.3 实验步骤及操作说明···········································································41 2.3 光纤陀螺仪零偏和标度因数的动态标定实验················································44 VI 捷联惯性/卫星组合导航系统实验教程 2.3.1 陀螺仪动态标定基本原理······································································44 2.3.2 实验目的与实验设备···········································································45 2.3.3 实验步骤及操作说明···········································································47 2.4 光纤陀螺仪的温度特性测试实验·······························································47 2.4.1 光纤陀螺仪零偏和标度因数的温度特性测试原理············································48 2.4.2 实验目的与实验设备···········································································48 2.4.3 实验步骤及操作说明···········································································50 2.5 基于 Allan 方差的光纤陀螺仪随机误差分析实验···········································51 2.5.1 Allan 方差分析方法的基本原理 ·······························································51 2.5.2 实验目的与实验设备···········································································55 2.5.3 实验步骤及操作说明···········································································56 2.6 基于重力场的加速度计误差标定实验·························································57 2.6.1 基于重力场的加速度计误差标定基本原理 ···················································57 2.6.2 实验目的与实验设备···········································································59 2.6.3 实验步骤及操作说明···········································································60 2.7 基于离心机的加速度计误差标定实验·························································61 2.7.1 基于离心机的加速度计误差标定基本原理 ···················································61 2.7.2 实验目的与实验设备···········································································63 2.7.3 实验步骤及操作说明···········································································64 第 3 章 捷联惯导系统初始对准系列实验································································65 3.1 静基座初始对准实验 ··············································································65 3.1.1 静基座初始对准的基本实现原理······························································65 3.1.2 静基座初始对准精度评估方法 ································································71 3.1.3 实验目的与实验设备···········································································74 3.1.4 实验步骤及操作说明···········································································77 3.2 多位置初始对准实验 ··············································································79 3.2.1 多位置初始对准的基本实现原理······························································80 3.2.2 最优多位置初始对准方法······································································81 3.2.3 实验目的与实验设备···········································································89 3.2.4 实验步骤及操作说明···········································································90 3.3 晃动基座初始对准实验 ···········································································91 3.3.1 晃动基座初始对准基本原理 ···································································92 3.3.2 实验目的与实验设备···········································································98 3.3.3 实验步骤及操作说明········································································.100 目 录 VII 3.4 动基座传递对准实验 ···········································································.101 3.4.1 动基座传递对准基本原理···································································.101 3.4.2 实验目的与实验设备········································································.115 3.4.3 实验步骤及操作说明········································································.116 第 4 章 捷联惯导系统导航解算系列实验·····························································.119 4.1 SINS 的导航解算方程··········································································.119 4.1.1 姿态方程·····················································································.120 4.1.2 位置和速度方程 ·············································································.125 4.1.3 SINS 导航解算方框图·······································································.128 4.2 SINS 导航解算数字仿真实验·································································.130 4.2.1 SINS 数字仿真平台工作原理 ·······························································.131 4.2.2 飞行轨迹发生器 ·············································································.132 4.2.3 惯性器件仿真器 ·············································································.140 4.2.4 SINS 导航解算仿真器·······································································.143 4.2.5 误差处理器 ··················································································.149 4.2.6 SINS 性能仿真验证 ·········································································.149 4.3 SINS 静基座导航解算误差验证实验························································.157 4.3.1 SINS 静基座导航解算误差传播特性 ·······················································.157 4.3.2 实验目的与实验设备········································································.170 4.3.3 实验步骤及操作说明········································································.172 4.4 SINS 动基座导航解算误差验证实验························································.174 4.4.1 SINS 动基座导航解算误差方程 ····························································.174 4.4.2 实验目的与实验设备········································································.179 4.4.3 实验步骤及操作说明········································································.180 第 5 章 卫星导航基础系列实验·········································································.183 5.1 GNSS 信号的结构···············································································.183 5.1.1 GNSS 信号的构成 ···········································································.183 5.1.2 GNSS 信号的伪码 ···········································································.184 5.1.3 GNSS 信号的导航电文······································································.186 5.2 卫星导航时间系统转换实验··································································.188 5.2.1 卫星导航时间系统转换的基本原理 ························································.188 5.2.2 实验目的与实验设备········································································.192 5.2.3 实验步骤及操作说明········································································.194 VIII 捷联惯性/卫星组合导航系统实验教程 5.3 卫星导航空间坐标系统转换实验····························································.198 5.3.1 卫星导航空间坐标系统转换的基本原理 ···················································.198 5.3.2 实验目的与实验设备········································································.204 5.3.3 实验步骤及操作说明········································································.205 5.4 GNSS 导航卫星轨道计算实验································································.208 5.4.1 利用星历确定 GNSS 导航卫星轨道的基本原理 ···········································.208 5.4.2 实验目的与实验设备········································································.214 5.4.3 实验步骤及操作说明········································································.215 5.5 GNSS 信号电离层延迟改正实验·····························································.217 5.5.1 电离层延迟及其改正方法···································································.217 5.5.2 实验目的与实验设备········································································.222 5.5.3 实验步骤及操作说明········································································.223 5.6 GNSS 信号对流层延迟改正实验·····························································.225 5.6.1 对流层延迟及其改正方法···································································.225 5.6.2 实验目的与实验设备········································································.227 5.6.3 实验步骤及操作说明········································································.229 5.7 GNSS 信号接收功率验证实验································································.231 5.7.1 GNSS 信号接收功率验证实验的基本原理 ·················································.231 5.7.2 实验目的与实验设备········································································.233 5.7.3 实验步骤及操作说明········································································.235 第 6 章 卫星导航接收机基带信号处理系列实验····················································.237 6.1 GNSS 信号捕获实验············································································.237 6.1.1 GNSS 信号捕获的基本原理·································································.237 6.1.2 实验目的与实验设备········································································.242 6.1.3 实验步骤及操作说明········································································.244 6.2 GNSS 信号跟踪实验············································································.248 6.2.1 GNSS 信号跟踪的基本原理·································································.249 6.2.2 实验目的与实验设备········································································.256 6.2.3 实验步骤及操作说明········································································.257 6.3 GNSS 信号导航电文解调实验································································.259 6.3.1 GNSS 信号导航电文解调基本原理·························································.259 6.3.2 实验目的与实验设备········································································.266 6.3.3 实验步骤及操作说明········································································.267 目 录 IX 第 7 章 卫星导航系统定位、测速、定姿系列实验·················································.269 7.1 卫星导航绝对单点定位实验··································································.269 7.1.1 卫星导航绝对单点定位基本原理···························································.269 7.1.2 实验目的与实验设备········································································.274 7.1.3 实验步骤及操作说明········································································.276 7.2 卫星导航差分相对定位实验··································································.278 7.2.1 卫星导航差分相对定位基本原理···························································.279 7.2.2 实验目的与实验设备········································································.283 7.2.3 实验步骤及操作说明········································································.285 7.3 卫星导航测速实验 ··············································································.287 7.3.1 多普勒测速原理 ·············································································.287 7.3.2 实验目的与实验设备········································································.289 7.3.3 实验步骤及操作说明········································································.290 7.4 卫星导航定姿实验 ··············································································.291 7.4.1 GNSS 定姿基本原理 ········································································.291 7.4.2 实验目的与实验设备········································································.295 7.4.3 实验步骤及操作说明········································································.296 第 8 章 SINS/GNSS 松、紧组合导航系列实验······················································.298 8.1 SINS/GNSS 松组合导航实验 ·································································.298 8.1.1 SINS/GNSS 松组合导航的基本原理························································.298 8.1.2 实验目的与实验设备········································································.303 8.1.3 实验步骤及操作说明········································································.305 8.2 SINS/GNSS 紧组合导航实验 ·································································.309 8.2.1 SINS/GNSS 紧组合导航的基本原理························································.309 8.2.2 实验目的与实验设备········································································.313 8.2.3 实验步骤及操作说明········································································.315 8.3 SINS/GNSS 松、紧组合导航的性能对比实验 ············································.317 8.3.1 SINS/GNSS 松、紧组合导航的性能对比 ··················································.317 8.3.2 实验目的与实验设备········································································.319 8.3.3 实验步骤及操作说明········································································.321 第 9 章 SINS/GNSS 超紧组合系列实验·······························································.324 9.1 SINS/GNSS 超紧组合导航系统的基本原理 ···············································.324 9.1.1 SINS/GNSS 超紧组合模式 ··································································.324 X 捷联惯性/卫星组合导航系统实验教程 9.1.2 SINS/GNSS 超紧组合导航系统的结构 ·····················································.325 9.2 SINS/GNSS 超紧组合信号捕获实验 ························································.326 9.2.1 SINS 辅助 GNSS 信号捕获的基本原理 ····················································.326 9.2.2 实验目的与实验设备········································································.332 9.2.3 实验步骤及操作说明········································································.334 9.3 SINS/GNSS 超紧组合信号跟踪实验 ························································.336 9.3.1 SINS 辅助 GNSS 信号跟踪的基本原理 ····················································.336 9.3.2 实验目的与实验设备········································································.341 9.3.3 实验步骤及操作说明········································································.342 9.4 SINS/GNSS 超紧组合误差建模与性能验证实验 ·········································.344 9.4.1 SINS/GNSS 超紧组合误差建模与方案设计················································.344 9.4.2 实验目的与实验设备········································································.355 9.4.3 实验步骤及操作说明········································································.356 第 10 章 SINS/GNSS 深组合系列实验 ································································.358 10.1 GNSS 信号矢量跟踪实验 ····································································.358 10.1.1 GNSS 信号矢量跟踪原理··································································.358 10.1.2 实验目的与实验设备·······································································.361 10.1.3 实验步骤及操作说明·······································································.363 10.2 基于矢量跟踪的 SINS/GNSS 深组合系统················································.365 10.2.1 深组合数据处理方法·······································································.365 10.2.2 SINS/GNSS 相干深组合模型与结构 ······················································.367 10.2.3 SINS/GNSS 非相干深组合建模与设计····················································.373 10.3 SINS/GNSS 深组合导航系统性能验证实验··············································.379 10.3.1 自适应 SINS/GNSS 深组合导航系统方案设计 ···········································.379 10.3.2 实验目的与实验设备·······································································.387 10.3.3 实验步骤及操作说明·······································································.389 10.4 SINS/GNSS 深组合导航系统的完好性监测实验 ·······································.390 10.4.1 GNSS 接收机自主完好性监测的基本原理················································.390 10.4.2 实验目的与实验设备·······································································.396 10.4.3 实验步骤及操作说明·······································································.397 附录 ·············································································································.400 附录 1 随机误差概率分布与基本理论 ··························································.400 参考文献 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