光流/惯导多传感器信息融合方法

刘小明; 陈万春; 邢晓岚; 殷兴良

光流/惯导多传感器信息融合方法

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

详细信息

中图分类号: V 249.122
计量
- 文章访问数: 3855
- HTML全文浏览量: 164
- PDF下载量: 517
- 被引次数: 0
出版历程
- 收稿日期: 2011-01-26
- 网络出版日期: 2012-05-30

Optical flow/INS multi-sensor information fusion

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

摘要

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.
- 光流 /
- 光流传感器 /
- 信息融合 /
- 卡尔曼滤波器 /
- 超低空突防
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.
- optical flow /
- optical flow sensor /
- information fusion /
- Kalman filter /
- very-low penetration

HTML全文

参考文献(13)

[1]	Stefan H,Gaurav S S,Peter C,et al.Combined optic-flow and stereo-based navigation of urban canyons for a UAV //2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.Albera,Canada: ,2005:3309-3316
[2]	Andres E O,Natasha N N.Object detection and avoidance using optical techniques in uninhabited aerial vehicles //AIAA Guidance,Navigation and Control Conference and Exhibit.Hilton Head,Soth Carolina: ,2007
[3]	Barber D B,Griffiths S R,McLain T W,et al.Autonomous landing of miniature aerial vehicles[J].Journal of Aerospace Computing,Information,and Communication,2007,4(5):770-784
[4]	Andres F R,Evan A,Justin M B,et al.Wind estimation using an optical flow sensor on a miniature air vehicle //AIAA Guidance,Navigation and Control Conference and Exhibit.Hilton Head,South Carolina: ,2007:20-23
[5]	Yoko W,Patrick F.Air-to-ground target tracking in a GPS-denied environment using optical flow estimation //AIAA Guidance,navigation,and Control Conference.Chicago,llinois: ,2009
[6]	Hugo R,Sergio S,Rogelio L.Real-time stabilization of an eight-rotor UAV using optical flow[J].IEEE Transactions on Robotics,2009,25(4):809-817
[7]	胡圣波.火箭飞行测量数据多尺度融合处理的理论及应用研究 .重庆大学自动化学院,2006:1-2 Hu Shengbo.The theory and applications study for multiscale data fusion from measurement of launch vehicle .College of Automation,Chongqing University,2006:1-2 (in Chinese)
[8]	潘泉,杨峰,叶亮.一类非线性滤波器——UKF综述[J].控制与决策,2005,20(5):481-489 Pan Quan,Yang Feng,Ye Liang.Survey of a kind of nonlinear filters—UKF[J].Control and Decision,2005,20(5):481-489(in Chinese)
[9]	方振平,陈万春,张曙光.航空飞行器飞行动力学[M].北京:北京航空航天大学出版社,2005:390-393 Fang Zhenping,Chen Wanchun,Zhang Shuguang.Flight dynamics of aero vehicles[M].Beijing: Beihang University Press,2005:390-393 (in Chinese)
[10]	黄显林,周建锁,王永富.巡航导弹最优地形跟踪H_∞控制器设计[J].航天控制,1999,17(1):29-35 Huang Xianlin,Zhou Jiansuo,Wang Yongfu.Design of optimal terrain-following H_∞ controller for a cruise missle[J].Aerospace Control,1999,17(1):29-35(in Chinese)
[11]	黄显林,周建锁,赵永闯,等.基于H_∞优化的地形跟踪鲁棒控制器设计[J].哈尔滨工业大学学报,2000,32(2):114-117 Huang Xianlin,Zhou Jiansuo,Zhao Yongchuang,et al.Optimal design of robust controller for terrain-following based on H_∞[J].Journal of Harbin Institute of Technology,2000,32(2):114-117(in Chinese)
[12]	秦永元,张洪钺,汪叔华.卡尔曼滤波与组合导航原理[M]西安:西北工业大学出版社,1998:42-48 Qin Yongyuan,Zhang Hongyue,Wang Shuhua.Kalman filters and integrated navigation theory[M].Xi-an:Northwestern Polytechnical University Press,1998:42-48(in Chinese)
[13]	赵明旺,王杰,江卫华.现代控制理论[M].武汉:华中科技大学出版社,2007:193-261 Zhao Mingwang,Wang Jie,Jiang Weihua.Modern control theory[M].Wuhan: Huazhong University of Science and Technology University Press,2007:193-261(in Chinese)