分布式集群秩亏约束协同导航方法研究  

The Research of the Rank-defect Constraint Collaborative Navigation Method of the Distributed Cluster

作　　者：秦峰 王璞 胡少勇 薛书棋 QIN Feng;WANG Pu;HU Shaoyong;XUE Shuqi(Shanghai Electro-Mechanical Engineering Institute,Shanghai 201109,China)

机构地区：[1]上海机电工程研究所,上海201109

出　　处：《航天控制》2024年第2期42-47,共6页Aerospace Control

摘　　要：针对卫星导航拒止环境、分布式集群纯惯导误差快速发散问题,提出了一种适用于所有节点均为纯惯导的分布式集群的协同导航方法,设计了秩亏约束卡尔曼滤波器,在量测量数量少于状态量数量导致滤波方程秩亏时,仍可以实现分布式集群协同导航,减小惯导误差。构建了无人机飞行试验平台,飞行试验验证结果表明,组网内无高精度节点,协同导航修正后位置和速度精度可提升两倍左右;组网内有一个高精度节点,协同导航修正后位置和速度精度可提升10~20倍左右。Aiming at the inertial navigation errors rapid increasing in the distributed clusters under the scenario that GNSS signal is unavailable,a collaborative navigation method is proposed in this paper,which just includes total nodes fitted with distributed cluster structure of inertial navigation systems(INSs).A rank-defect constraint Kalman filter is designed to perform collaborative navigation and reduces the errors of the INSs,even if the number of the measurement variables is less than the number of the state variables in the filter.The flight test platform of unmanned air vehicles(UAVs)is established to prove the cooperative navigation system.The results of the flight test show the precision of the position and velocity can be improved by about 2 times when there are none high-precision nodes in the distributed network,and the precision of the position and velocity can be improved by about 10~20 times when there are just one high-precision nodes in the distributed network.

关 键 词：协同导航 无人机 卡尔曼滤波 分布式集群 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]