基于雷达测距与角位置辅助的SINS空中对准方法  

SINS alignment method in air based on slant and angle position assisted by radar

作　　者：徐博[1] 王连钊 吴雯昊 李盛新 段腾辉 XU Bo;WANG Lianzhao;WU Wenhao;LI Shengxin;DUAN Tenghui(College of Automation.Harbin Engineering University,Harbin 150001,China;Wuhan Institute of Ship Design and Research,Wuhan 430064,China;Hunan Institute of Aerospace Mechanical and Electrical Equipment and Special Materials,Changsha 410205,China)

机构地区：[1]哈尔滨工程大学自动化学院,哈尔滨150001 [2]武汉船舶设计研究所,武汉430064 [3]湖南航天机电设备与特种材料研究所,长沙410205

出　　处：《中国惯性技术学报》2019年第5期573-579,共7页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金（61203225）;黑龙江省自然科学基金（F2018009）;省博士后科研启动金（LBH-Q15032）;装备预研重点实验室基金（614221801050717）;国家海洋工程重点实验室公开项目（1616）;国家装备预研基金（61403110306)

摘　　要：针对卫星导航受限条件下捷联惯性导航系统(SINS)空中初始对准问题,提出了一种基于雷达测量斜距-角位置匹配模型。推导了传统雷达位置匹配模型方案量测线性化过程,说明了线性化后量测噪声统计特性随斜距变化的缺陷,同时提出直接采用雷达测量的距离和角位置作为量测信息的对准方案。根据雷达与飞行器之间的相对位置关系,建立了雷达斜距与角位置信息辅助的捷联惯性导航系统初始对准量测方程,利用无迹卡尔曼滤波器(UKF)解决了量测方程非线性问题。最后通过200次蒙特卡洛分析仿真验证了算法的可行性,斜距大于50 km条件下,300 s时航向对准误差角统计均值为-0.0289°,统计标准差为0.0377°,同时有较高的水平对准精度,且明显优于传统位置匹配对准方案。Aiming at the initial alignment problem of strapdown inertial navigation system(SINS)under limited satellite navigation conditions,a radar-based slant and angle position matching model is proposed.The linearization process of the traditional radar position matching model is deduced,and the defect that the statistical characteristics of the measurement noise changes with the slant range is illustrated.The slant and angle position measured by the radar are directly used as the measurement information of the alignment scheme.According to the relative position relationship between radar and aircraft,the initial alignment measurement equation of the SINS assisted with slant and angle position information measured by radar is established,and the nonlinear problem of measurement equation is solved by unscented Kalman filter(UKF).Finally,the feasibility of the algorithm is verified by 200 Monte Carlo simulations.When the slant distance is more than 50 km,the mean value of heading angle error is-0.0289°and the standard deviation is 0.0377°at 300 s.In addition,it has high horizontal alignment accuracy and is obviously superior to the traditional position matching alignment scheme.

关 键 词：雷达 捷联惯性导航系统 初始对准 无迹卡尔曼滤波 蒙特卡洛分析 

分 类 号：U666.1[交通运输工程—船舶及航道工程]