基于多传感器的双机编队相对定位算法研究  

Research on Relative Navigation for Formations Based on Multi-sensors

作　　者：杨少帅 郑威 YANG Shaoshuai;ZHENG Wei(Southwest China Institute of Electronic Technology,Chengdu 610036;No.73602 Troops of PLA,Nanjing 210000)

机构地区：[1]中国西南电子技术研究所,成都610036 [2]73602部队,南京210000

出　　处：《舰船电子工程》2021年第11期28-32,共5页Ship Electronic Engineering

基　　金：国家自然科学基金项目“具有环境适应性的多运动平台协同导航方法研究”(编号:42074038)资助。

摘　　要：针对配置多传感器的编队精密相对导航解算需求,论文以惯性导航系统为公共参考导航源,利用伪距差分相对定位、相对测距、测角信息,采用了联邦滤波器的算法,估计协同成员间的相对位置、相对速度。仿真结果表明,该方法精度和容错性好,能够适应传感器性能的变化。通过仿真分析发现,卫星导航差分可用时,能够保证1m以内的相对位置精度和0.1m/s的相对速度精度;在卫星导航差分失效的情况下,基于相对距离、角度测量联合惯性导航滤波处理,能够保证相对导航定位有效。In this paper,the inertial navigation system is used as the common reference navigation source,and the relative lo⁃cation,relative ranging and angle measurement information of pseudo-range difference are used to estimate the relative position and relative velocity of cooperative members.Simulation results show that this method has good accuracy and fault tolerance,and can adapt to the changes of sensor performance.Through simulation analysis,it is found that the relative position accuracy within 1m and the relative velocity accuracy of 0.1m/s can be guaranteed when differential satellite navigation is available.In the case of differential failure of satellite navigation,the relative distance and angle measurement combined with inertial navigation filtering can ensure the relative navigation and positioning efficiency.

关 键 词：编队 相对导航 多传感器 联邦滤波 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]