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。

王新龙，北京航空航天大学教授，宇航学院航天导航制导与控制系副主任，校级一流课程《惯性导航基础》负责人，获得校级教学成果二等奖4次（排名1）、三等奖3次（排名1）；2010年获北京航空航天大学三育人先进个人称号；10次获得校级优秀硕士学位论文指导教师称号。出版教材及专著多本，已负责完成了包括5项国家自然科学基金、国家重点研发计划、国家863高新技术项目、国家科技重点专项基金、中国博士后基金、航天创新基金、航天支撑基金、航空基金、国防基础预研、国防重点实验室基金等科研项目四十余项。

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 ·······································································································.408