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

doi:10.13700/j.bh.1001-5965.2016.0859

捷联惯性/天文/雷达高度表组合导航

doi: 10.13700/j.bh.1001-5965.2016.0859

1.
北京航空航天大学宇航学院, 北京 100083
2.
北京航天长征飞行器研究所, 北京 100076

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
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- 被引次数: 0
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

Strapdown inertial/celestial/radar altimeter integrated navigation

1.
School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
2.
Beijing Institute of Space Long March Vehicle, Beijing 100076, China

Funds:

Aeronautical Science Foundation of China 20130151004

More Information

Corresponding author: WANG Haiyong, E-mail: why@buaa.edu.cn

摘要

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%。
- 捷联惯性/天文 /
- 雷达高度表 /
- 组合导航 /
- 弹道导弹 /
- 扩展卡尔曼滤波(EKF)
Abstract:
Aimed at ballistic missile, a strapdown inertial navigation system/celestial navigation system/radar altimeter (SINS/CNS/RA) integrated method was proposed. Since the velocity and position errors' divergent problem of SINS can not be fundamentally solved by conventional SINS/star tracker integrated method, altitude intercept between calculated sea level elevation and observed sea level elevation which was measured by RA is introduced and total differential equation can be deduced. The four-dimensional observation model combining altitude intercept with attitude angle errors and the state model of SINS error equation are established by using extend Kalman filter (EKF) based on midcourse phase navigation. The simulation results manifest that when SINS has an inertial precision grade, star tracker has measurement precision of 10″, and RA has measurement precision of 50 m, after 1 810 s' flight, the velocity error of reentry point is less than 1 m/s and the circular error probability (CEP) is 1.2 km, with a 76.1% decrease of velocity error and 65.0% decrease of position error compared with conventional SINS/CNS method.
- strapdown inertial/celestial /
- radar altimeter /
- integrated navigation /
- ballistic missile /
- extend Kalman filter (EKF)

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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

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图 2 无姿控弹道示意图

Figure 2. Schematic of ballistic trajectory without attitude control

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图 3 SINS/CNS/RA组合导航方案流程图

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

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图 4 标称弹道轨迹曲线

Figure 4. Nominal ballistic trajectory curves

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图 5 l系下位置、速度误差曲线

Figure 5. Position and velocity error curves in l frame

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图 6 l系下姿态误差曲线

Figure 6. Attitude error curves in l frame

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图 7 n系下位置误差曲线

Figure 7. Position error curves in n frame

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图 8 再入点位置分布统计图

Figure 8. Cartogram of reentry point position distribution

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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
陀螺仪	随机漂移0.1（°）/h（1σ）
加速度计	常值偏置50 μg
加速度计	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
星敏感器	测量误差10″（1σ）
雷达高度表	测量误差50m（1σ）

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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

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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(φ_r, λ_r)	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

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