基于回算机制的GPS/INS时间延迟处理方法  

Processing Method of GPS/INS Time Delay Based on Back Calculation Algorithm

作　　者：汪菁 孙立海 邹瑜光 WANG Jing;SUN Li-hai;ZOU Yu-guang(Shenzhou Wuxing Space Technology Co.,Ltd.,Dalian 116020,China)

机构地区：[1]神州五行航天科技有限公司,辽宁大连116020

出　　处：《测控技术》2021年第8期81-85,94,共6页Measurement & Control Technology

摘　　要：针对组合导航中由于GPS时延而导致的定位精度下降的问题,提出了一种适用于低成本制导炸弹的时延处理方法。该方法在GPS数据输出延时过程中,利用预设存储器存储数据,基于回算机制完成GPS信息更新时刻的数据融合、GPS数据输出时刻的导航输出,减小时间不同步对组合导航数据融合的影响。该回算机制可控制计算量,不增加程序复杂性,适用于GPS数据丢失或异常等多种情况。针对回算机制提出了一种工程实践中的计算优化算法,在回算时取消卡尔曼滤波计算中的时间更新环节。该计算优化可节约回算过程的计算时间,避免整体数据延迟,同时不影响导航定位精度,可满足短时间内的低成本组合导航系统要求。靶试结果验证,时延处理方法及计算优化算法适用于低成本制导炸弹,具有一定的工程实用性。In order to solve the reduction of positioning accuracy due to GPS time delay in integrated navigation,a new processing method of GPS/INS time delay for low-cost guided bombs is presented.Based on back calculation,data fusion at GPS update time and data output at GPS output time are finished by using stored data in a preset memory.The processing method reduces the influence of time asynchrony on data fusion,while increasing little controllable computational cost and program complexity.This method is suitable for many situations such as GPS data loss or abnormality.Furthermore,an engineering optimization algorithm is proposed during back calculation by canceling the system-propagation phase of the Kalman filter.This optimization algorithm succeeds in saving computing time with negligible influence on calculation accuracy.It avoids overall data delay and can meet the requirements of low-cost integrated navigation system in a short time.Shooting test shows that time delay processing method and engineering optimization algorithm are suitable for low-cost guided bombs and possess finer practicability.

关 键 词：组合导航 GPS时延 回算机制 工程优化算法 

分 类 号：TP274[自动化与计算机技术—检测技术与自动化装置] V249[自动化与计算机技术—控制科学与工程]