鲁棒的DME/DME/SINS组合导航算法  

Robust DME/DME/SINS Integrated Navigation Algorithm

作　　者：黄斌 HUANG Bin

机构地区：[1]海军装备部,成都610036

出　　处：《现代导航》2023年第2期79-83,共5页Modern Navigation

摘　　要：测距仪/测距仪/捷联惯导系统的组合导航系统是区域导航中常用的导航源。提出了一种鲁棒的测距仪/测距仪/捷联惯导系统组合导航算法。首先以捷联惯导系统误差方程为基础建立起卡尔曼滤波的状态方程;其次推导斜距误差与系统状态变量间的数学关系,并以此建立量测方程;最后针对测距仪输出的斜距中的野值影响导航精度这一问题,采用一种鲁棒性能较好的基于Huber的卡尔曼滤波算法实现信息融合。实验结果表明,所设计的组合导航算法可以满足一类区域导航的需求,由于采用了基于Huber的卡尔曼滤波算法,算法鲁棒性较好,能有效应对量测野值对系统精度的干扰。DME/DME/SINS integrated navigation system is the primary navigation method for RNAV.A robust DME/DME/SINS integrated navigation algorithm is proposed.First,the state equation of KF is established based on the error propagation equation of SINS;Then the measurement equation of KF is established by deriving the relationship between the slant-range error and the state variables;Finally,aiming at the problem that the outliers in the slant-range given by DME degrade the navigation accuracy,a robust huber-based KF is utilized to achieve the information fusion.The experiment results indicate that the proposed integrated navigation algorithm can meet the requirement of RNAV-1;Meanwhile,the algorithm is robust to the measurement outliers since the Huber-based KF is used.

关 键 词：测距仪 捷联惯导系统 区域导航 野值 基于Huber的卡尔曼滤波 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]