导航系统

Based on a certain engineering development,this paper provides a kind of operation mode and corresponding data optimization method for the integrated navigation system composed of various navigation sensors (such as stabilizedgyrocompass,EN Log,LoranC,etc.).The optimized navigation in formation can effectivel satisfy the requirement of combat system on navigation information (especially on absolute velocity relative to the ground).

本文以某工程型号任务为背景，提出了一种基于平台罗经、电磁计程仪及LoranC定位系统等导航传感器的综合导航系统的工作模式及数据优化处理方法，经优化处理后的导航信息可有效地满足作战系统对导航信息的需求。

In order to ensure the precision and reliability, this paper designs the GPS/Loran C/SINS/AHRS integrated system. In this integrated system, the self-adaptive federated Kalman filter is introduced to revise strap-down inertial navigation system; the heading angle attitude and heading reference system is used to ensure the convergence of heading angle; and the coordination transformation for Loran C is applied to eliminate the constant error of Loran C.

针对导航精度及可靠性，设计了GPS/罗兰C/SINS/AHRS组合导航系统，该组合导航采用了自适应联邦卡尔曼滤波的方法，通过闭环形式校正SINS，并用姿态航向参考系统代替捷联惯性导航系统输出的航向角以保证航向角的收敛，同时对罗兰C的测量值进行坐标变换以消除由于坐标系不同而带来的常值误差。

Global position system can revise the cumulative error of dead reckoning navigation system,such as strapdown inertial navigation system and Doppler navigation ,with its ability of accurate navigation and positioning when it is applied to the navigation system of autonomous underwater vehicle.

全球卫星定位系统应用于远程自主水下航行器导航系统中，可利用其精密导航和定位能力对航位推算导航系统如惯导和多普勒导航的累积误差进行精密校正。

In this paper,we introduce the main research content and the basic principle of GAN,the situation and development of the gravity sensor ,digital map processing and matching theory in home and abroad,especially the architecture and the research results of Gradiometer As an External Navigation Aid,Gravity Aided Inertial Navigation System.

本文在进行了一般性辅助导航方法的概述之后，详细介绍了与辅助导航相关的重力场基本概念、重力辅助导航系统的主要研究内容、基本原理；从重力传感器、重力图数据处理及重力图匹配理论与算法三个方面详细介绍了其国内外研究现状，重点介绍了重力梯度仪辅助导航、重力辅助惯性导航和通用重力模块三种系统的体系结构和研究成果；总结了重力辅助导航涉及的关键技术及其发展趋势；最后给出了我国开展海洋重力辅助导航研究的若干建议

The report has presented detailed research on concerned instances of integrated navigation and compared it with the system of the subsonic vehicle. The research has shown that the scheme composed of Changhe Ⅱ loran, Beidou satellite navigation system and GNSS for such subsonic vehicles is feasible and technically realizable.

本文对有关组合导航的实例进行了详细研究，与亚音速飞行器组合导航系统进行了比较研究，表明亚音速飞行器采用"长河二号"无线电导航系统、"北斗"卫星导航系统和全球卫星导航系统进行组合导航是切实可行的，在技术上是完全可以实现的。

The Beidou navigational system is characterized by the technical dominance of locating and navigation, data communication, noting time and also by the features of all-day-and-night long, totipotent, real time and continuity.

北斗卫星定位导航系统是我国完全自主知识产权的军民共用卫星定位导航系统，北斗导航系统具有集定位导航、数据通信、授时三大功能为一体的技术优势和全天候、全能性、实时性、连续性的工作特点。

ABSTRACT: The UAV navigation system's performance is improved through embedding the geography information model that can process the vector map data in the system by using MapX, In this paper, how to navigate and plan the UAV flight course in the vector map is investigated. The basic control and operation for vector map in the geography information system is introduced, and the flight course is designed and modified in the map. In addition, 2D vector map can't orient UAV in 3D space, so the altitude model is added in the UAV navigation system to realize 3D orientation by integrating 2D vector map with altitude plot. The simulation results in the UAV simulation system indicate that the navigation system can monitor and control UAV efficiently and intuitionally.

使用MapX在无人机导航系统中添加能够处理矢量地图数据的地理信息模块，可以显著地提升系统的性能；文章对如何在矢量地图下进行无人机导航与任务规划进行了研究，完成对地理信息系统中矢量地图的基本控制和操作，并在地理信息图上进行航线的设定与修改；另外，针对二维矢量地图无法对无人机进行三维空间定位的问题，文章通过在无人机导航系统中添加高度位置显示模块，用二维平面地图与高度图相结合的方式来实现对无人机位置的三维定位；通过在无人机仿真实验系统中的使用，证明了该系统能高效、直观地对无人机飞行进行监视与控制。

Considering the limits of RDSS in active positioning mode,such as poor security,limited capacity,and inability to continuously provide position,velocity and attitude outputs,a technique of tightly coupled RDSS /SINS integrated navigation system is proposed for land vehicles by utilizing the time differenced carrier phase of 3 geostatic satellites.

针对北斗系统有源定位方式保密性差、用户数目有限，不能提供连续的位置、速度、姿态信息的问题，提出利用北斗系统3颗地球静止卫星的载波相位时间差分信息，与车载捷联惯导构成紧组合导航系统，通过扩展卡尔曼滤波器估计并修正惯导系统的速度误差；引入载体的侧向和天向速度约束，改善了速度估计精度；结合北斗系统的伪距信息，消除了长航时条件下位置误差的积累；推导了滤波器观测方程，对组合导航滤波器进行了设计；通过车载实验进行了验证，实验结果表明，速度误差和位置误差的积累受到了有效地抑制，精度满足陆地战车导航的要求。

Information from the subsystem of the integrated navigation system is syncretized by Kalman filter, which can output higher precision navigation information.

该组合导航系统是由捷联惯导系统和GPS系统构成，采用卡尔曼滤波算法完成组合导航系统的信息融合，输出高精度的导航信息。

The error of inertial navigation systems is cumulated in course of time because of the drift of the measurement unit-gyroscope. Using the celestial navigation system and the information processing technology, the paper disscusses the INS/CNS integrated navigation systems.

惯性导航系统由于其感测元件—陀螺仪的漂移造成导航系统误差随时间不断累积，本文利用天文导航系统，结合信息处理技术，探讨了惯性/天文组合导航系统的相关问题。

This one mode pays close attention to network credence foundation of the businessman very much.

这一模式非常关注商人的网络信用基础。

Cell morphology of bacterial ghost of Pasteurella multocida was observed by scanning electron microscopy and inactivation ratio was estimated by CFU analysi.

扫描电镜观察多杀性巴氏杆菌细菌幽灵和菌落形成单位评价遗传灭活率。