北京航空航天大学学报 ›› 2012, Vol. 38 ›› Issue (5): 620-624.

• 论文 • 上一篇    下一篇

光流/惯导多传感器信息融合方法

刘小明1, 陈万春1, 邢晓岚2, 殷兴良3   

  1. 1. 北京航空航天大学 宇航学院, 北京 100191;
    2. 空军装备研究院总体所, 北京 100076;
    3. 中国航天科工集团公司, 北京 100830
  • 收稿日期:2011-01-26 出版日期:2012-05-30 发布日期:2012-05-30

Optical flow/INS multi-sensor information fusion

Liu Xiaoming1, Chen Wanchun1, Xing Xiaolan2, Yin Xingliang3   

  1. 1. School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
    2. System Analysis Institute, Air Force Armament Research Academy, Beijing 100076, China;
    3. China Aerospace Science & Industry Corp, Beijing 100830, China
  • Received:2011-01-26 Online:2012-05-30 Published:2012-05-30

摘要: 将光流传感器多点布置在弹体上,建立了纵向平面内的弹体运动学模型和光流传感器量测模型,利用离散卡尔曼滤波器对光流信息和速率陀螺信息进行融合,估计弹体的高度、姿态和速度信息,并利用估计信息进行了超低空飞行的高度控制仿真,仿真结果表明:利用多个光流传感器和一个速率陀螺,可以准确地、实时地估计出弹体的高度、垂直速度、俯仰角、俯仰角速度和攻角等信息,并可利用这些信息实现导弹的超低空突防任务.

Abstract: Several optical flow sensors were mounted dispersedly on a missile airframe. The airframe kinematics model in the vertical plane and the optical flow sensor measurement model were established. Discrete-time Kalman filters were used to fuse the optical flow data and rate gyroscope data, and estimate the altitude, attitude and velocity of the airframe. A very-low altitude-holding flight simulation was then implemented based on these estimations. The simulation results indicate that several optical flow sensors and a rate gyroscope can be used to estimate the altitude, vertical velocity, pitching angle, pitching angular velocity and attack angle exactly and real-time. These estimations can help to implement very-low penetration missions.

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