直升机高精度长航时自主定位方法研究  

High-Precision Autonomous Localization Method for Long-Endurance Helicopters

作　　者：陈帅[1] 纪文涛[1] 韩宇[1] 薛晓中[2] 白宏阳[2] 

机构地区：[1]南京理工大学自动化学院 [2]南京理工大学动力学院,南京210094

出　　处：《电光与控制》2011年第2期18-21,33,共5页Electronics Optics & Control

基　　金：国家部委基金项目(51453060105ZS3301);南京理工大学科研启动基金(AB41100)

摘　　要：为满足武装直升机高精度长航时自主定位的要求,设计了一种多普勒雷达/光纤捷联惯导/气压高度表的组合导航系统。根据各传感器的误差特性建立了组合导航系统的数学模型,针对多普勒雷达系统的失锁、测速异常等问题设计了一种基于双层容错结构的卡尔曼滤波算法。最后对设计的组合导航原理样机进行了长航时的地面跑车试验,跑车结果表明该系统长航时的自主定位精度较高,此方案具有较好的工程应用价值。In order to meet the requirements of high-precision autonomous localization for armed helicopter, an integrated navigation system of Doppler radar/FOG SINS/Barometric Altimeter was designed. According to characteristic error of each sensor, the mathematic model of the integrated system was built up. Considering the problems of a Doppler radar, such as lock losing and abnormal velocity measurement, a Kalman filter based on double fault-tolerant structure was designed. Long-endurance experiment was carried out on a vehicle to a prototype of the integrated navigation, and the result indicates that the system has high precision for long-endurance autonomous localization. The system design is feasible for engineering application.

关 键 词：组合导航 惯性导航 多普勒导航 自主定位 卡尔曼滤波 

分 类 号：V241[航空宇航科学与技术—飞行器设计] TP33[自动化与计算机技术—计算机系统结构]