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弹道导弹的捷联惯性/天文组合导航方法

钱华明 郎希开 钱林琛 彭宇 王海涌

钱华明, 郎希开, 钱林琛, 等 . 弹道导弹的捷联惯性/天文组合导航方法[J]. 北京航空航天大学学报, 2017, 43(5): 857-864. doi: 10.13700/j.bh.1001-5965.2016.0390
引用本文: 钱华明, 郎希开, 钱林琛, 等 . 弹道导弹的捷联惯性/天文组合导航方法[J]. 北京航空航天大学学报, 2017, 43(5): 857-864. doi: 10.13700/j.bh.1001-5965.2016.0390
QIAN Huaming, LANG Xikai, QIAN Linchen, et al. Ballistic missile SINS/CNS integrated navigation method[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(5): 857-864. doi: 10.13700/j.bh.1001-5965.2016.0390(in Chinese)
Citation: QIAN Huaming, LANG Xikai, QIAN Linchen, et al. Ballistic missile SINS/CNS integrated navigation method[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(5): 857-864. doi: 10.13700/j.bh.1001-5965.2016.0390(in Chinese)

弹道导弹的捷联惯性/天文组合导航方法

doi: 10.13700/j.bh.1001-5965.2016.0390
基金项目: 

国家自然科学基金 61573113

详细信息
    作者简介:

    钱华明, 男, 博士, 教授, 博士生导师。主要研究方向:组合导航、信息处理、传感器技术与智能系统技术

    郎希开, 男, 硕士研究生。主要研究方向:组合导航技术

    通讯作者:

    钱华明, E-mail:qianhuam@sina.com

  • 中图分类号: V249.3

Ballistic missile SINS/CNS integrated navigation method

Funds: 

National Natural Science Foundation of China 61573113

More Information
  • 摘要:

    针对传统的捷联惯性/天文(SINS/CNS)组合导航系统不能精确估计加速度计偏置而导致导航误差发散的问题,提出一种基于星光折射间接敏感地平的捷联惯性/天文(SINS/RCNS)组合导航方法。利用星敏感器测量星光折射角,结合大气折射模型得到的折射视高度来抑制位置误差的发散。推导了基于星光折射新的量测方程,分析了折射星数目与导航精度的关系,当使用多颗折射星时能够精确估计加速计偏置,从而能够完全抑制位置误差的发散,并对系统进行可观测性分析。通过卡尔曼滤波实现了状态估计。仿真结果表明:本文方法的导航精度优于传统方法,有效抑制了位置误差的发散,验证了本文方法的有效性。

     

  • 图 1  星光折射原理图

    Figure 1.  Schematic diagram of starlight refraction

    图 2  星光折射角的计算

    Figure 2.  Calculation of starlight refraction angle

    图 3  SINS/RCNS组合导航系统工作原理

    Figure 3.  Operating principle of SINS/RCNS integrated navigation system

    图 4  本文SINS/RCNS组合导航方法与传统SINS/CNS组合导航方法姿态误差对比

    Figure 4.  Attitude error contrast between SINS/RCNS integrated navigation method and traditional SINS/CNS integrated navigation method

    图 5  使用1颗折射星时本文SINS/RCNS组合导航方法与传统SINS/CNS组合导航方法比较

    Figure 5.  Contrast between SINS/RCNS integrated navigation method by using one refraction star and traditional SINS/CNS integrated navigation method

    图 6  使用本文SINS/RCNS组合导航方法时加速度计偏置估计

    Figure 6.  Estimation of accelerometer bias when using SINS/RCNS integrated navigation method

    表  1  使用不同数目折射星时对系统可观测性的影响

    Table  1.   Influence of using different numbers of refraction star on system observability

    使用的折射星数目 SOM秩
    Ⅰ时间段 Ⅱ时间段 Ⅲ时间段
    0 6 6 6
    1 11 11 11
    2 14 14 14
    3 15 15 15
    4 15 15 15
    5 15 15 15
    6 15 15 15
    下载: 导出CSV

    表  2  使用不同数目折射星时导航误差统计结果

    Table  2.   Navigation error statistical results when different numbers of refraction star are used

    使用的折射星数目 x轴位置误差/m y轴位置误差/m z轴位置误差/m
    均值 方差 均值 方差 均值 方差
    1 99.2 68.7 106.8 72.4 -106.3 82.4
    2 91.1 53.8 98.3 42.7 -98.4 61.4
    3 83.7 27.3 88.5 22.8 -82.4 21.6
    4 80.4 22.6 82.7 21.9 -80.2 19.6
    5 79.2 21.9 81.6 18.6 -81.2 20.1
    6 78.8 19.5 79.4 19.9 -79.8 19.8
    7 78.6 18.9 78.7 18.7 -77.3 20.8
    下载: 导出CSV
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出版历程
  • 收稿日期:  2016-05-10
  • 录用日期:  2016-07-16
  • 网络出版日期:  2017-05-20

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