利用虚拟观测提升自动转移飞行器导航精度  

Accuracy Enhancement of SINS/CNS Integrated Navigation Using Virtual Observations for Automated Transfer Vehicles

作　　者：王鼎杰 吕汉峰[1] 吴杰[1] 

机构地区：[1]国防科技大学航天科学与工程学院军事航天系,长沙410073

出　　处：《宇航学报》2017年第5期526-532,共7页Journal of Astronautics

基　　金：国防科学技术大学优秀研究生创新资助项目(B140103)

摘　　要：针对自动转移飞行器(ATV)自主导航过程中的高精度要求,提出了一种利用加表虚拟观测信息辅助捷联惯性(SINS)/天文(CNS)的组合导航方案。该算法利用了ATV无动力轨道飞行时的完全失重条件来改进SINS导航动力学方程,并获取加表零偏虚拟观测信息,从而实现导航状态的精确估计。不同更新率SINS/CNS/虚拟观测等多源信息融合采用了扩展Kalman滤波方法。ATV典型轨道仿真结果表明,虚拟观测信息的引入使ATV纯惯性导航定位、定速精度分别提升了82.33%和93.87%,使SINS/CNS组合导航定位、定速精度分别提升了98.35%和98.72%,定姿精度相应地维持不变。加表虚拟观测的引入使SINS在不增添其他传感器的情况下提升了导航精度,降低了SINS对外测信息的依赖性,具有重要实用价值。A method for designing accurate autonomous navigation system is proposed in this paper for automated transfer vehicles （ATV）. This paper devises an accuracy enhancement approach for traditional integrated navigation of a strapdown inertial navigation system （SINS） and a celestial navigation system （CNS） with the virtual observations. This approach benefits from the use of the fact that ATV is in complete weightlessness in orbit without maneuvers. The improved state equations and virtual observation equations are established based on such a constraint, and an extended Kalman filter is used to accomplish the state estimation from SINS, CNS and virtual observations in different data rates. The simulation results indicate that the proposed algorithm can improve both the position and velocity accuracies without loss of attitude estimation accuracy by about 82.33% and 93.87% compared with standalone inertial navigation, by about 98.35% and 98.72% compared with traditional SINS/CNS integration. The introduction of virtual observations can resist the divergence of position and velocity errors due to inaccurate accelerometer bias estimation effectively. This is of significant importance in engineering because the navigation accuracy is improved without the aid of other sensors, meaning it reduces the reliance on the external information for SINS.

关 键 词：捷联惯性导航(SINS) 天文导航(CNS) 组合导航 虚拟观测 自动转移飞行器(ATV) 

分 类 号：V448.224[航空宇航科学与技术—飞行器设计]