一种重力梯度/SINS/星光组合导航方法  

One Gravity Gradient/SINS/Starlight Integrated Navigation Method

作　　者：黄志威 踪华 高朝晖 田雨 张学渊[5] 路坤锋[1,2] HUANG Zhiwei;ZONG Hua;GAO Zhaohui;TIAN Yu;ZHANG Xueyuan;LU Kunfeng(Beijing Aerospace Automatic Control Institute,Beijing 100854,China;National Key Laboratory of Science and Technology on Aerospace Intelligent Control,Beijing 100854,China;School of Electronic Engineering,Xi'an Shiyou University,Xi'an 710065,China;School of Automation,Northwest Polytechnic University,Xi'an 710000,China;Beijing Institute of Aerospace Control Devices,Beijing 100039,China)

机构地区：[1]北京航天自动控制研究所,北京100854 [2]宇航智能控制技术国家级重点实验室,北京100854 [3]西安石油大学电子工程学院,西安710065 [4]西北工业大学自动化学院,西安710000 [5]北京航天控制仪器研究所,北京100039

出　　处：《航天控制》2024年第2期10-15,共6页Aerospace Control

摘　　要：为提高飞行器导航系统的精度和自主性,提出了一种重力梯度/捷联惯导(SINS)/星光组合导航方法。在该组合导航系统中,利用重力梯度信息修正SINS的位置误差,利用星光信息修正SINS的姿态误差,提高飞行器的导航精度和自主性。为了弥补传统容积卡尔曼滤波(CKF)算法滤波精度不高的缺点,采用随机加权容积卡尔曼滤波(RWCKF)算法,设计重力梯度/SINS/星光组合导航系统。仿真结果表明,SINS/星光组合导航系统、重力梯度/SINS组合导航系统、合成孔径雷达(SAR)/SINS/星光组合导航系统和提出的重力梯度/SINS/星光自主组合导航系统的定位误差分别为78.1003 m、54.3399 m、39.2776 m和19.8495 m,证明了提出的重力梯度/SINS/星光自主组合导航系统的精度不仅远高于两个子系统,也高于SAR/SINS/星光组合导航系统。In order to improve the accuracy and autonomy of aircraft navigation system,a gravity gradient/SINS/starlight integrated navigation method is proposed.In this integrated navigation system,the gravity gradient information is used to correct the position error of SINS,and the starlight information is used to correct the attitude error of SINS to improve the navigation accuracy and autonomy of the aircraft.Regarding overcoming the shortcomings of the traditional cubature Kalman filter algorithm(CKF)which has low accuracy,the random weighted cubature Kalman filter(RWCKF)is used to design the gravity gradient/SINS/starlight integrated navigation system.The simulation results show that the position errors of SINS/starlight integrated navigation system,gravity gradient/SINS integrated navigation system,SAR SINS/starlight integrated navigation system and the proposed method are 78.1003 m,54.3399 m,39.2776 m and 19.8495 m respectively,which prove that the accuracy of the proposed integrated system is much higher than not only the two subsystems but also the SAR/SINS/starlight integrated navigation system.

关 键 词：重力梯度 惯性导航 星光导航 随机加权容积卡尔曼滤波 

分 类 号：U666.1[交通运输工程—船舶及航道工程]