耦合位置误差的机载惯性/星光组合算法研究  

Research of Airborne INS/STAR Integrated Algorithm Coupled with Position Error

作　　者：熊智[1,2] 陈海明[1] 郁丰[2] 

机构地区：[1]南京航空航天大学自动化学院,南京210016 [2]南京航空航天大学高新技术研究院,南京210016

出　　处：《宇航学报》2010年第12期2683-2690,共8页Journal of Astronautics

基　　金：国家自然科学基金(60904091;91016019);航空科学基金(20070852009);国家民用973课题(2009CB724002)

摘　　要：针对星敏测量输出的是惯性系下姿态信息,无法直接应用于实际的机载地理系下姿态组合导航,提出了地理系下耦合位置误差的机载惯性/星光组合滤波算法。该算法分析了惯性姿态到地理系姿态之间的相互转换关系,在建立的地理系下姿态线性化量测方程基础上,通过引入导航位置误差转换矩阵,建立了星敏测量的惯性姿态到惯性导航计算输出的地理系姿态之间的耦合误差模型;同时针对姿态观测时高度通道不可观的特点,增加了气压高度输出为系统的观测量;实现了基于星敏测量的惯性系下姿态对地理系下惯性导航误差的直接修正。姿态耦合误差仿真结果表明该组合导航算法设计成功可行,为星敏在机载环境下的组合导航应用提供了新的思路。Because the inertial attitude output of a star sensor can＇t be applied in the actual airborne integrated navigation system defined in the geographic coordinate system,an airborne INS/STAR integrated filtering algorithm coupled with position error defined in the geographic coordinate system has been presented.The transform relationship between the inertial coordinate attitude and the geographic coordinate attitude is analyzed,and the attitude linearization observation equation defined in the geographic coordinate system is constructed in the paper.And then,by introducing a navigation position error transform matrix,the coupling error model between inertial attitude from star sensor and geographic coordinate attitude from inertial navigation calculation is built.Because the information of height can＇t be got through attitude observation,the air height output is added to the system.Finally,the INS＇s error correct based on inertial attitude from star sensor is realized.The simulation results for the coupling error have verified that the integrated navigation algorithm design is successful,thus putting forward a new thought for the airborne application of star sensor.

关 键 词：星敏感器 惯性导航系统 组合导航 卡尔曼滤波 姿态观测 

分 类 号：V249[航空宇航科学与技术—飞行器设计]