RSINS/里程计容错组合导航方案设计与性能验证  

Design and Performance Verification of RSINS/OdometerFault-Tolerant Integrated Navigation Scheme

作　　者：杨洁 申亮亮[2] 王新龙[1] 蔡远文 陈鼎 Yang Jie;Shen Liangliang;Wang Xinlong;Cai Yuanwen;Chen Ding(School of Astronautics,Beihang University,Beijing 100083,China;Beijing Institute of Control&Electronic Technology,Beijing 100038,China;Department of Graduate School,Space Engineering University,Beijing 101416,China;State Key Laboratory of Space-Ground Information Technology,Beijing 100086,China)

机构地区：[1]北京航空航天大学宇航学院,北京100083 [2]北京控制与电子技术研究所,北京100038 [3]航天工程大学研究生院,北京101416 [4]天地一体化信息技术国家重点实验室,北京100086

出　　处：《航空兵器》2021年第2期93-99,共7页Aero Weaponry

基　　金：国家自然科学基金项目(61673040);航空科学基金项目(20170151002);试验技术项目(1700050405);天地一体化信息技术国家重点实验室基金项目(2015-SGIIT-KFJJ-DH-01);重点基础研究项目(2020-JCJQ-ZD-136-12)。

摘　　要：为满足武器发射车辆对车载导航系统自主性、精确性和可靠性的要求,设计了一种RSINS/里程计容错组合导航方案。首先,在对里程计不同量测信息特点分析的基础上,建立了基于里程增量匹配方式的RSINS/里程计组合导航系统模型。其次,根据对RSINS/里程计组合导航系统模型的可观测性分析结果,建立了一种可观的RSINS/里程计组合导航系统模型,并针对车辆行驶过程中里程计可能发生的量测信息不可用问题,设计了一种基于序贯卡尔曼滤波的RSINS/里程计容错组合导航信息融合方案。最后,通过仿真验证表明,RSINS/里程计容错组合导航方案能够保证组合系统的导航精度和可靠性。In order to meet the requirements of autonomous,accuracy and reliability of vehicle navigation system for weapon launch vehicles,a fault-tolerant integrated navigation scheme of RSINS/odometer is designed.Based on the analysis of the characteristics of different odometer measurement information,the RSINS/odometer integrated navigation system model based on mileage increment matching mode is established.According to the results of the observability analysis of the RSINS/odometer integrated navigation system model,an observable RSINS/odometer integrated navigation system model is established.A fault-tolerant integrated navigation information fusion scheme of RSINS/odometer based on sequential Kalman filter is designed to solve the problem that odometer measurement information may not be available during vehicle driving.Finally,the simulation results show that the RSINS/odometer fault-tolerant integrated navigation scheme can ensure the navigation accuracy and reliability of the integrated system.

关 键 词：捷联惯导系统 旋转调制 里程计 组合导航 序贯卡尔曼滤波 

分 类 号：TJ765[兵器科学与技术—武器系统与运用工程] V249[航空宇航科学与技术—飞行器设计]