基于分布式信息滤波的集群导弹协同定位方法  

Distributed Information Filtering-Based Cooperative Localization Method for Cluster Missiles

作　　者：李寿鹏 陶贞吉 张晓宇 徐世晖 靳小琴 LI Shoupeng;TAO Zhenji;ZHANG Xiaoyu;XU Shihui;JIN Xiaoqin(College of Electronic Information and Optical Engineering,Nankai University,Tianjin 300350,China;Shanghai Electro-Mechanical Engineering Institute,Shanghai 201109,China;College of Artificial Intelligence,Nankai University,Tianjin 300350,China)

机构地区：[1]南开大学电子信息与光学工程学院,天津300350 [2]上海机电工程研究所,上海201109 [3]南开大学人工智能学院,天津300350

出　　处：《空天防御》2024年第2期36-41,共6页Air & Space Defense

基　　金：中国博士后科学基金(2023M731788)。

摘　　要：针对领从式集群导弹中的从弹定位问题,考虑领弹动态地切入切出导航网络情况,提出了一种基于捷联惯性导航系统(INS)与到达时间(TOA)测距系统相融合的领从类分布式协同导航方法。该方法综合考虑了导航参数与相关传感器误差模型,基于INS误差系统建立线性状态空间模型,基于弹间数据链TOA测距系统建立非线性伪距量测模型,并基于扩展信息滤波器实现动态信息的分布式融合,以适应量测信息节点数目动态变化引起的协同导航网络结构变化。将其应用于集群导弹协同导航系统中,仿真结果表明所提算法可以快速且高精度地完成从弹导航参数的估计,可以有效消除领弹节点变化所带来的负担。该方法可以作为低成本从弹导航系统的补充手段。To resolve the slave missile localization in master-slave cluster missiles,and considering the dynamic cut-in and cut-out navigation network of master missiles,a distributed cooperative navigation method using the inertial navigation system(INS)and the time-of-arrival(TOA)ranging system was proposed in this study.The method comprehensively considered the navigation parameters and related sensor error models and built an INS-error-system-based linear state space model.A nonlinear pseudo-ranging measurement model was produced based on the inter-missile data link and adopted an extended information filter to acquire the distributed fusion of dynamic information.For the dynamic change of the measurement information nodes,the method adapted to the variations in the cooperative navigation network structure.The results show that the simulation in the cooperative navigation system can accurately estimate the navigation parameters of slave missiles and effectively eliminate the burden induced by the change of information nodes,thus can be considered as a supplementary means of a low-cost slave missile navigation system.

关 键 词：集群导弹 协同导航 捷联惯性导航系统 扩展信息滤波 分布式信息融合 

分 类 号：TN97[电子电信—信号与信息处理]