星光折射辅助惯性/天文紧组合高精度导航方法  

Stellar Refraction-aided SINS/CNS Tightly-Integrated Navigation Method

作　　者：王鼎杰 吕汉峰[1] 吴杰[1] WANG Dingjie;LV Hanfeng;WU Jie(College of Aerospace Science and Engineering,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]国防科技大学空天科学学院空天工程系,长沙410073

出　　处：《中国惯性技术学报》2020年第1期74-81,共8页Journal of Chinese Inertial Technology

基　　金：国防科技大学优秀研究生创新资助项目(B140103)。

摘　　要：为了解决传统惯性/天文(SINS/CNS)组合导航无法在线精确估计加速度计零偏而导致SINS导航误差发散的难题,提出了一种动力学模型约束改进的捷联惯性星光折射组合导航方法。直接利用星敏感器观测的原始恒星像点坐标信息与约束改进的SINS导航动力学方程构建SINS/CNS紧组合模型,通过推导加速度计虚拟观测方程和适用于空天跨域飞行器导航的星光折射测量方程,采用扩展卡尔曼滤波方法,实现了对加速度计零偏和陀螺零偏在线估计。典型弹道仿真结果表明,在不增添额外传感器的条件下,相对于传统的基于姿态测量SINS/CNS组合,所提方法导航定位、定速和定姿精度分别提升了97.84%、98.61%和78.70%;相对于传统的基于星光折射SINS/CNS组合,定位、定速和定姿精度分别提升了28.09%、67.72%和79.10%。所提方法有效克服了传统方法精度恶化问题,显著提升了传统SINS/CNS组合导航精度。In order to solve the navigation accuracy degradation due to inaccurate accelerometer bias estimation of the traditional SINS/CNS integrations, a constrained SINS/Refractive CNS(SINS/RCNS) integrated navigation method is proposed for long-range ballistic vehicle applications. The SINS/CNS tight integration model is established by directly utilizing the star sensor image point coordinates and improved SINS dynamic equations. The constraint in the free flight phase is used to derive the virtual accelerometer observations, and the refraction measurement equations are also derived to apply stellar refraction into the ballistic missile. The extended Kalman filter(EKF) is devised to fuse the multi-rate observations of stellar refraction, virtual observation and star sensor image points, in order to estimate the accelerometer and gyro biases accurately on-line. Without adding new extra sensors, the simulation results indicate that there is a significant accuracy improvement in position, velocity and attitude by about 97.84%, 98.61% and 78.70%, compared with traditional gyro-drift-corrected SINS/CNS method. There is also a significant improvement in position, velocity and attitude accuracy by about 28.09%, 67.72% and 79.10%, compared with the traditional SINS/RCNS method. To sum up, the accuracy degradation problem encountered by traditional methods can be addressed by the proposed constrained algorithm with remarkable accuracy improvements.

关 键 词：飞行器设计 捷联惯导 星光折射 虚拟观测 组合导航 扩展卡尔曼滤波 

分 类 号：V448.224[航空宇航科学与技术—飞行器设计]