北京航空航天大学学报 ›› 2017, Vol. 43 ›› Issue (5): 857-864.doi: 10.13700/j.bh.1001-5965.2016.0390

• 论文 • 上一篇    下一篇

弹道导弹的捷联惯性/天文组合导航方法

钱华明1, 郎希开1, 钱林琛2, 彭宇3, 王海涌4   

  1. 1. 哈尔滨工程大学 自动化学院, 哈尔滨 150001;
    2. 北京航空航天大学 计算机学院, 北京 10008;
    3. 北京航天自动控制研究所, 北京 10085;
    4. 北京航空航天大学 宇航学院, 北京 100083
  • 收稿日期:2016-05-10 出版日期:2017-05-20 发布日期:2017-05-27
  • 通讯作者: 钱华明,E-mail:qianhuam@sina.com E-mail:qianhuam@sina.com
  • 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。
  • 基金资助:
    国家自然科学基金(61573113)

Ballistic missile SINS/CNS integrated navigation method

QIAN Huaming1, LANG Xikai1, QIAN Linchen2, PENG Yu3, WANG Haiyong4   

  1. 1. College of Automation, Harbin Engineering University, Harbin 150001, China;
    2. School of Computer Science and Engineering, Beijing University of Aeronautics and Astronautics, Beijing 10008;
    3. Beijing Aerospace Automatic Control Institute, Beijing 10085;
    4. School of Astronautics, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2016-05-10 Online:2017-05-20 Published:2017-05-27
  • Supported by:
    National Natural Science Foundation of China (61573113)

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。

关键词: 星光折射, 折射视高度, 大气折射模型, 导航误差, 卡尔曼滤波

Abstract: Considering that traditional strap-down inertial/celestial integrated navigation system (SINS/CNS) cannot accurately estimate the accelerometer bias, which can cause the divergence of navigation errors, a strap-down inertial/celestial integrated navigation method based on the stellar refraction (SINS/RCNS) was proposed. The starlight refraction angle obtained from the stellar sensor and the apparent height obtained from atmospheric refraction model were combined to inhibit the divergence of position error. A novel measurement equation based on stellar refraction was developed and the relationship between the number of used refraction stars and navigation accuracy was analyzed. When multiple refraction stars are used, the proposed method can accurately estimate the accelerometer bias so that the position errors can be inhibited completely, and its observability was analyzed. The estimation of the state of system was realized through the Kalman filter. The simulation results indicate that the precision of navigation based on the proposed method is better than that of the traditional method and inhibits the divergence of the position error effectively, which shows the validation of the proposed method.

Key words: starlight refraction, apparent height, atmospheric refraction model, navigation error, Kalman filter

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