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捷联惯性/天文/雷达高度表组合导航

高自谦 王海涌 王永海 赵振平 陈垦 秦绪国

高自谦, 王海涌, 王永海, 等 . 捷联惯性/天文/雷达高度表组合导航[J]. 北京航空航天大学学报, 2017, 43(12): 2505-2512. doi: 10.13700/j.bh.1001-5965.2016.0859
引用本文: 高自谦, 王海涌, 王永海, 等 . 捷联惯性/天文/雷达高度表组合导航[J]. 北京航空航天大学学报, 2017, 43(12): 2505-2512. doi: 10.13700/j.bh.1001-5965.2016.0859
GAO Ziqian, WANG Haiyong, WANG Yonghai, et al. Strapdown inertial/celestial/radar altimeter integrated navigation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(12): 2505-2512. doi: 10.13700/j.bh.1001-5965.2016.0859(in Chinese)
Citation: GAO Ziqian, WANG Haiyong, WANG Yonghai, et al. Strapdown inertial/celestial/radar altimeter integrated navigation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(12): 2505-2512. doi: 10.13700/j.bh.1001-5965.2016.0859(in Chinese)

捷联惯性/天文/雷达高度表组合导航

doi: 10.13700/j.bh.1001-5965.2016.0859
基金项目: 

航空科学基金 20130151004

详细信息
    作者简介:

    高自谦 男, 硕士研究生。主要研究方向:天文导航及组合导航技术

    王海涌 男, 博士, 讲师, 硕士生导师。主要研究方向:天体敏感器、天文导航及组合导航技术

    通讯作者:

    王海涌, E-mail: why@buaa.edu.cn

  • 中图分类号: V249.32+8

Strapdown inertial/celestial/radar altimeter integrated navigation

Funds: 

Aeronautical Science Foundation of China 20130151004

More Information
  • 摘要:

    提出了一种捷联惯性/天文/雷达高度表的弹道导弹组合导航方法。针对传统SINS/星敏感器组合无法从根本上解决惯导速度位置误差发散的问题,引入RA测量数据,以海拔计算高度与海拔观测高度的差值作为新的量测量,并推导了全微分方程,结合姿态误差角建立4维观测模型,针对弹道中段导航,以SINS误差方程作为系统状态模型,通过扩展卡尔曼滤波(EKF)进行组合导航解算。仿真结果表明,当SINS精度为惯导级、星敏感器测量精度10″、RA测量精度50 m时,经过1 810 s的飞行,再入点时刻速度误差小于1 m/s、圆概率误差(CEP)为1.2 km,比传统SINS/CNS方法速度和位置误差分别减小了76.1%和65.0%。

     

  • 图 1  发射惯性系下雷达高度表测高示意图

    Figure 1.  Geometric illustration of RA in launch inertial system

    图 2  无姿控弹道示意图

    Figure 2.  Schematic of ballistic trajectory without attitude control

    图 3  SINS/CNS/RA组合导航方案流程图

    Figure 3.  Flowchart of SINS/CNS/RA integrated navigation scheme

    图 4  标称弹道轨迹曲线

    Figure 4.  Nominal ballistic trajectory curves

    图 5  l系下位置、速度误差曲线

    Figure 5.  Position and velocity error curves in l frame

    图 6  l系下姿态误差曲线

    Figure 6.  Attitude error curves in l frame

    图 7  n系下位置误差曲线

    Figure 7.  Position error curves in n frame

    图 8  再入点位置分布统计图

    Figure 8.  Cartogram of reentry point position distribution

    表  1  导航器件仿真参数

    Table  1.   Simulation parameters of navigational apparatus

    导航器 精度 采样周期 工作阶段
    陀螺仪 常值漂移0.5(°)/h 0.01s t0 ~ t6
    随机漂移0.1(°)/h(1σ
    加速度计 常值偏置50 μg
    随机误差10 μg(1σ
    星敏感器 安装误差5″ 0.1s
    (交替间隔0.05s)
    t5 ~ t6
    测量误差10″(1σ
    雷达高度表 测量误差50m(1σ
    下载: 导出CSV

    表  2  再入点误差

    Table  2.   Reentry point error

    组合模式 位置误差/m 速度误差/(m·s-1)
    SINS 5 396 7.63
    SINS/CNS 3 456 2.72
    SINS/CNS/RA 1 211 0.65
    下载: 导出CSV

    表  3  再入点位置误差统计表

    Table  3.   Statistics of reentry point position error

    再入点坐标(φr, λr) 位置误差/m
    (40°7′7″ N, 129°1′23″ W) 1 098
    (40°7′3″ N, 129°1′29″ W) 942
    (40°7′9″ N, 129°1′22″ W) 1 186
    (40°7′16″ N, 129°1′12″ W) 1 472
    (40°7′7″ N, 129°1′24″ W) 1 094
    (40°7′6″ N, 129°1′26″ W) 1 056
    (40°7′11″ N, 129°1′17″ W) 1 286
    (40°7′10″ N, 129°1′24″ W) 1 172
    (40°7′7″ N, 129°1′24″ W) 1 095
    (40°7′9″ N, 129°1′20″ W) 1 200
    (40°7′21″ N, 129°1′3″ W) 1 741
    (40°7′7″ N, 129°1′22″ W) 1 119
    (40°7′14″ N, 129°1′15″ W) 1 385
    (40°7′2″ N, 129°1′34″ W) 845
    (40°7′7″ N, 129°1′25″ W) 1 076
    (40°7′12″ N, 129°1′16″ W) 1 325
    (40°7′1″ N, 129°1′28″ W) 876
    (40°7′13″ N, 129°1′14″ W) 1 385
    (40°7′14″ N, 129°1′13″ W) 1 402
    (40°7′16″ N, 129°1′10″ W) 1 511
    下载: 导出CSV
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出版历程
  • 收稿日期:  2016-11-09
  • 录用日期:  2017-03-06
  • 网络出版日期:  2017-12-20

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