基于半实物仿真的组合导航系统抗侧风设计  

Combined Navigation System Anti-crosswind Design Based on Hardware-in-loop Simulation

作　　者：陈沣[1] 杨鹏翔[1] 刘梦焱 刘琴 梅春波 郭昊昌 CHEN Feng;YANG Pengxiang;LIU Mengyan;LIU Qin;MEI Chunbo;GUO Haochang(Xi’an Modern Control Technology Research Institute,Xi’an 710065,China)

机构地区：[1]西安现代控制技术研究所,西安710065

出　　处：《弹箭与制导学报》2020年第5期130-133,共4页Journal of Projectiles,Rockets,Missiles and Guidance

摘　　要：在侧风条件下,由水平速度修正得到的航向容易受到侧滑角的影响。为了保证航向精度收敛,在卡尔曼滤波以及速度修正航向的基础上,利用MEMS陀螺短时间内精度较高以及组合导航系统在转弯过程中航向精度趋于收敛的特性,估计载体侧滑角,再用于补偿航向误差角,同时利用H_∞滤波增强了速度航向量测的鲁棒性。在半实物仿真系统中,这种侧滑角估计方法在小于10 m/s侧风条件下,俯仰、滚转角误差小于0.5°,航向角误差小于1.3°。Horizontal velocity calibrated heading was vulnerable due to side slip effect.An estimated side slip angle was found in combined navigation process to compensate original heading calibration,based on the effect that MEMS gyro was accurate enough in short time and heading accuracy was increased in turning process.Velocity observation was enhanced with H_∞filtering simultaneously.Some hardware-in-loop simulation results showed,in 10 m/s crosswind condition,pitch error and roll error were less than 0.5°,azimuth error was less than 1.3°.

关 键 词：组合导航 MEMS 侧滑角 H_∞滤波 半实物仿真 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]