基于平滑变结构-卡尔曼滤波的MIMU/BDS组合导航技术  

MIMU/BDS Integrated Navigation Technology Based on Smooth Variable Structure-Adaptive Kalman Filter

作　　者：李灿 沈强 秦伟伟 段志强 汪立新 Li Can;Shen Qiang;Qin Weiwei;Duan Zhiqiang;Wang Lixin(Rocket Force University of Engineering,Xi’an 710025,China)

机构地区：[1]火箭军工程大学,西安710025

出　　处：《航空兵器》2021年第3期51-58,共8页Aero Weaponry

基　　金：陕西省自然科学基础研究计划项目(2020JQ-491,2020JM-357)。

摘　　要：为了提高模型不准确、大扰动等情况下MIMU/BDS组合导航精度,提出了平滑变结构-卡尔曼组合滤波的信息融合方法。介绍了坐标转换方法,建立了组合导航系统的状态空间方程和观测方程。为了防止老旧观测数据引起算法发散,在卡尔曼滤波算法中融入随残差自适应变化的渐消因子,从而构造了自适应卡尔曼滤波算法。将卡尔曼滤波的精度优势与平滑变结构滤波的鲁棒性优势融合,提出了平滑变结构-卡尔曼组合滤波算法。经仿真验证,在模型不准确、大扰动等情况下,组合算法的位置融合误差和速度融合误差均小于卡尔曼滤波和自适应卡尔曼滤波算法;经跑车试验验证,在卫星遮挡情况下,组合导航系统的位置融合精度和速度融合精度仍然较高,实现了卫星可观数量不足情况下的精确导航。In order to improve the accuracy of MIMU/BDS integrated navigation with uncertain models and large disturbances,a smoothing variable structure-Kalman combined filter information fusion method is proposed.The coordinate transformation method is introduced,and the state space equation and the observation equation of the integrated navigation system are established.In order to prevent the algorithm divergence caused by the old observation data,the adaptive fading factor which varies with the residual error is incorporated into the Kalman filter algorithm,and the adaptive Kalman filter algorithm is constructed.Combining the accuracy advantage of Kalman filter with the robustness advantage of smooth variable structure filter,a smooth variable structure-Kalman combined filter algorithm is constructed.It is verified by simulation that location and speed fusion error of combined algorithm are smaller than Kalman filter and adaptive Kalman filter under the condition of uncertain model and large disturbances.The experiment shows that location fusion accuracy and speed fusion accuracy are also high under the condition of satellite occlusion,which means the accurate navigation with insufficient number of satellites is achieved by utilizing the combined filter algorithm.

关 键 词：MIMU/BDS组合导航 模型不准确 自适应渐消因子 平滑变结构滤波 组合滤波算法 

分 类 号：TJ765[兵器科学与技术—武器系统与运用工程] V448[航空宇航科学与技术—飞行器设计]