基于容错惯性网络的相对导航方法  

Relative navigation method based on fault-tolerant inertial network

作　　者：李振威 程咏梅[1] 张亚崇[2] 冯鑫涛 陈可正 LI Zhenwei;CHENG Yongmei;ZHANG Yachong;FENG Xintao;CHEN Kezheng(School of Automation,Northwestern Polytechnical University,Xi’an 710129,China;AVIC Xi’an Flight Automatic Control Research institute,Xi’an 710129,China)

机构地区：[1]西北工业大学自动化学院,西安710129 [2]西安飞行自动控制研究所,西安710129

出　　处：《中国惯性技术学报》2023年第2期171-178,共8页Journal of Chinese Inertial Technology

基　　金：国家自然科学基金(U20B2067)。

摘　　要：为了满足对外部环境精确探测、侦查的要求,先进的多载荷通用飞机通常搭载多种载荷设备。针对机翼挠曲变形、载荷设备子IMU精度低且易发生随机故障的情况,提出一种基于容错惯性网络的相对导航方法。首先,建立挠曲变形下多节点IMU之间动态转换模型以构成冗余测量信息,进行基于广义似然比检测的最小二乘融合,提高测量数据的可靠性和精度。其次,利用惯性网络间的局部运动信息进行相对导航解算,并建立误差估计与补偿模型。仿真结果表明,所提方法在惯性传感器发生随机故障的情况下,可有效完成主、子节点间的高精度相对运动估计,三个方向的相对位置估计误差分别为0.0646 mm、0.0634 mm和0.7377 mm。In order to meet the requirements of accurate detection and reconnaissance of external environment,the advanced multi-load general-purpose aircrafts usually carry multiple mission equipment.Aiming at the problem of wing deflection,low precision and random failure in sub-IMUs,a relative navigation method based on fault-tolerant inertial network is proposed.Firstly,the dynamic relationship conversion model between multi-node IMUs under flexural deformation is established to form redundant measurement information,and the least squares fusion based on generalized likelihood ratio detection is performed to improve the reliability and accuracy of measurement data.Secondly,the local motion information between the inertial networks is used for the calculation of relative navigation and the error estimation and compensation models are established.Simulation results show that the proposed method can effectively complete the high precision relative motion estimation between the main node and the slave nodes in the case of random faults of the inertial sensor,and the relative position estimation errors of the three directions are 0.0646 mm,0.0634 mm and 0.7377 mm,respectively.

关 键 词：机翼挠曲 相对导航 广义似然比检测 惯性网络 

分 类 号：V241.6[航空宇航科学与技术—飞行器设计]