地磁/天文自主导航算法  

Autonomous navigation algorithm based on celestial and geomagnetism

作　　者：王常虹[1] 刘睿[1] 李葆华[1] 

机构地区：[1]哈尔滨工业大学空间控制与惯性技术研究中心,哈尔滨150001

出　　处：《中国惯性技术学报》2010年第4期429-433,共5页Journal of Chinese Inertial Technology

基　　金：十一五国防预研项目(51309060304)

摘　　要：针对基于轨道动力学方程的天文导航方法的局限性问题,提出了一种利用天文/地磁信息进行飞行器自主导航的方法,建立了适用于一般飞行器的动力学方程,并推导了系统的观测方程。算法采用地磁/星光矢量间的夹角作为观测值,采用扩展卡尔曼滤波方法估计飞行器的位置和速度。应用奇异值分解的方法对系统的可观测性与可观测度进行了分析。仿真结果表明该算法的导航精度较高,滤波收敛性、稳定性较好,误差不随时间累积。可用于惯性导航的辅助导航或对导航精度要求一般的场合。To overcome the limitation of celestial navigation method based on orbit dynamic equations,an autonomous navigation method using celestial/geomagnetism information is presented.The dynamic equations for conventional aircrafts are established,and the observation equations are derived.The algorithm takes the angle between starlight and geomagnetic vectors as observations and estimates the position and the velocity of the aircrafts by Extended Kalman filter（EKF） method.The observability and observable degree of the navigation system are analyzed using the singular-value decomposition method.Simulation results show that the algorithm’s precision is accurate,the convergence and stability of filtering are good,and the error is not accumulated with time.It can be used in inertial aided navigations or the applications with ordinary navigation precision requirements.

关 键 词：自主导航 可观测度 扩展卡尔曼 导航精度 

分 类 号：U666.1[交通运输工程—船舶及航道工程]