高超声速滑翔飞行器地形匹配辅助导航方法研究

鲜勇; 任乐亮; 杨子成; 张大巧; 李杰

doi:10.13700/j.bh.1001-5965.2019.0310

高超声速滑翔飞行器地形匹配辅助导航方法研究

doi: 10.13700/j.bh.1001-5965.2019.0310

火箭军工程大学作战保障学院, 西安 710025

详细信息

作者简介:
鲜勇男，博士，教授，博士生导师。主要研究方向：飞行器设计、制导理论等

任乐亮男，硕士研究生。主要研究方向：飞行器导航与设计

通讯作者:
鲜勇. E-mail:xy603xy@163.com

中图分类号: V249.32
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- 被引次数: 0
出版历程
- 收稿日期: 2019-06-17
- 录用日期: 2019-09-27
- 网络出版日期: 2020-04-20

Terrain match aided navigation method of hypersonic glide vehicle

College of War Support, Rocket Force University of Engineering, Xi'an 710025, China

More Information

Corresponding author: XIAN Yong, . E-mail:xy603xy@163.com

摘要

摘要:
高超声速滑翔飞行器滑翔飞行高度在30 km以上，大气极其稀薄，传统采用气压高度计的地形匹配辅助导航方式将无法正常工作。为实现高精度地形匹配，在分析匹配算法对地形常值误差不敏感的基础上，详细论证了基于惯性系统解算绝对高度方案，并对比分析了将短时滑翔段弹道简化为等高飞行方案。在捷联惯性导航系统（SINS）误差模型基础上，结合高度通道方块图，通过拉普拉斯变换，建立了惯性系统高度通道短时稳定性解析模型，并以CAV-H为研究对象建立数值仿真环境。仿真结果表明，解析模型精度较高，基于SINS解算绝对高度能够满足地形匹配辅助导航系统精度要求，优于气压高度计正常工作时的精度。
- 高超声速滑翔飞行器 /
- 地形辅助导航系统 /
- 滑翔弹道 /
- 高度通道稳定性 /
- 气压高度计
Abstract:
The height of the hypersonic vehicle gliding flight is over 30 km, so the atmosphere is extremely thin and the traditional terrain match aided navigation with barometric altimeter cannot work properly. In order to improve the accuracy of terrain match, on the basis of analyzing the insensitivity of the matching algorithm to the terrain constant value error, the scheme of using inertial system to solve absolute height is demonstrated in detail, and the scheme that simplifies the short-time gliding trajectory to equal high flight is compared and analyzed. Based on the strap-down inertial navigation system (SINS) error model, the analytic model of the short-time stability of the inertial system is established by the height channel block diagram and Laplace transformation. In addition, the numerical simulation environment is established with CAV-H as study object. The simulation results show that the analytical model has high accuracy and the scheme that the absolute height is solved by SINS can meet the accuracy requirements of terrain match aided navigation system, which is better than the accuracy of the normal operation of the barometric altimeter.
- hypersonic glide vehicle /
- terrain aided navigation system /
- gliding trajectory /
- height channel stability /
- barometric altimeter

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图 1 高度h处压强差1Pa对应的高度差

Figure 1. Height difference corresponding to pressure difference of 1Pa at h height

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图 2 不同升阻比下δh随时间变化曲线

Figure 2. Variation curves of δh with time under different lift-drag ratios

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图 3 不同初始高度下δh随时间变化曲线

Figure 3. Variation curves of δh with time under different initial heights

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图 4 较小初始速度偏差下δh随时间变化曲线

Figure 4. Variation curves of δh with time under smaller initial velocity deviation

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图 5 较大初始速度偏差下δh随时间变化曲线

Figure 5. Variation curves of δh with time under larger initial velocity deviation

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图 6 不同初始高度偏差下δh随时间变化曲线

Figure 6. Variation curves of δh with time under different initial height deviations

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图 7 不同初始速度倾角偏差下δh随时间变化曲线

Figure 7. Variation curves of δh with time under different initial flight path angle deviations

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图 8 本文定义的m坐标系

Figure 8. m coordinate system defined in this paper

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图 9 高度通道方块图^[7]

Figure 9. Block diagram of height channels^[7]

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图 10 不同ΔT下δh随时间t₀的变化曲线

Figure 10. Variation curves of δh with time t₀ under different ΔT

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图 11 不同加速度计误差系数偏差下δh随时间t₀的变化曲线

Figure 11. Variation curves of δh with time t₀ with different deviations of accelerometer error coefficient

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图 12 不同ϕ′_m0下δh随时间t₀的变化曲线

Figure 12. Variation curves of δh with time t₀ under different ϕ′_m0

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图 13 δh₁和δh₂随时间变化曲线

Figure 13. Variation curves of δh₁and δh₂ with time

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图 14 过载和高度随时间变化曲线

Figure 14. Variation curves of overload and height with time

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图 15 δh随时间变化曲线

Figure 15. Variation curves of δh with time

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表 1 不同升阻比下2000s时的δh

Table 1. δh at 2000s with different lift-drag ratios

K	δh/m
2.30	-32.78
2.45	-24.03
2.60	-19.07
2.75	-15.88
2.90	-13.65
3.05	-12.00
3.20	-10.74
3.35	-9.73
3.50	-8.91

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表 2 不同初始高度下2000s时的δh

Table 2. δh at 2000s with different initial heights

H₀/km	δh/m
50	-64.64
51	-39.16
52	-27.92
53	-21.63
54	-17.64
55	-14.91
60	-8.72
70	-5.86
80	-5.31

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表 3 ΔT=1s时δh的大小

Table 3. Value of δh when ΔT=1s

t₀/s	δh/m
1 000	5.10
1 300	8.80
1 500	12.57
1 800	21.36
2 000	30.36

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表 4 不同加速度计误差系数偏差下t₀=2000s时δh的大小

Table 4. Value of δh when t₀=2000s with different deviations of accelerometer error coefficient

误差系数偏差	δh/m
0.3×10^－5	0.65
1.5×10^－5	3.23
3×10^－5	6.46
6×10^－5	12.92
9×10^－5	19.38
12×10^－5	25.84
15×10^－5	32.30
30×10^－5	64.60

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表 5 不同ϕ′_m0下t₀=2000s时δh的大小

Table 5. Value of δh when t₀=2000s with different ϕ′_m0

ϕ′_m0/(°)	δh/m
0	16.80
5	17.79
10	18.13
15	18.68
20	19.16
25	19.56
30	19.87
35	20.09
40	20.23
45	20.28

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表 6 工具误差系数精度

Table 6. Instrumental error coefficient accuracy

误差系数偏差	系数精度
ΔD_0x/((°)·h^-1)	0.01
ΔD_0y/((°)·h^-1)	0.01
ΔD_0z/((°)·h^-1)	0.01
ΔK_0x/g₀	3×10^－5
ΔK_0y/g₀	3×10^－5
ΔK_0z/g₀	3×10^－5
ΔK_1x	3×10^－5
ΔK_1y	3×10^－5
ΔK_1z	3×10^－5

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