一种基于移动辅助节点的单兵导航系统协同初始化算法  

A Cooperative Initialization Algorithm for Individual Soldier Navigation System Based on Mobile Auxiliary Nodes

作　　者：韩勇强[1] 魏晨晨 孙寿才 梁俊宇 陈家斌[1] HAN Yong-qiang;WEI Chen-chen;SUN Shou-cai;LIANG Jun-yu;CHEN Jia-bin(School of Automation, Beijing Institute of Technology, Beijing 100081, China;Beijing Institute of Space Launch Technology, Beijing 100076, China)

机构地区：[1]北京理工大学自动化学院,北京100081 [2]北京航天发射技术研究所,北京100076

出　　处：《导航定位与授时》2020年第3期127-133,共7页Navigation Positioning and Timing

基　　金：装发“十三五”预先研究项目(41417030103)。

摘　　要：惯性导航系统凭借其自主性强、隐蔽性好、可靠性高的优势,在单兵作战、反恐救援中发挥越来越重要的作用。针对单兵惯性导航系统精度较低,在长期工作后精度下降严重,需要重新初始化的问题,以单兵与无人平台的协同作业为背景,提出了一种基于移动式辅助节点的单兵导航系统协同快速初始化方法。该方法以目标节点的角增量、位移增量信息与测距信息作为输入,采用粒子滤波技术对单兵导航系统的位置和航向进行协同估计。试验表明,该算法最少仅需1个辅助节点即可实现较好的单兵惯导系统位置和航向初始化。Inertial navigation system plays an increasingly important role in individual combat,anti-terrorism and rescuing with its advantages of autonomy,concealment and reliability.Aiming at the problem of low accuracy of inertial navigation system for individual soldier and the needs of reinitializing due to the serious degrading of accuracy after long-term work in complicated environment,a rapid initialization method of the individual navigation system based on the mobile auxiliary node is proposed for the cooperative operation of the individual soldier and the unmanned platform,in which the incremental information of the target node and range information of auxiliary nodes are used as measurements,and the position and azimuth of the individual soldier navigation system are estimated by using particle filter.The experiment results show that the algorithm can initialize the inertial navigation system for individual soldier with at least one auxiliary node.

关 键 词：单兵导航 协同初始化 粒子滤波 粒子群优化 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]