基于误差累加校正的相对导航技术研究  

Research on Relative Navigation Techniques Based on Error Summation Correction

作　　者：张果[1,2] ZHANG Guo

机构地区：[1]中国电子科技集团公司第二十研究所,西安710068 [2]陕西省组合与智能导航重点实验室,西安710068

出　　处：《现代导航》2024年第4期235-239,248,共6页Modern Navigation

摘　　要：基于数据链测距的相对导航是卫星拒止情况下编队任务的重要导航手段,介绍了相对导航系统组成和工作原理,针对异步到达时间(TOA)测量、可观测性欠缺和惯导误差持续发散,尤其是成员间距较近、距离估计误差与实际距离相比占比较大时极易错误的相对定位问题,研究了基于误差累加校正的相对导航算法架构,建立了滤波状态和量测方程,开展了外场情况下的试验验证。研究表明,采用的相对导航算法,对于成员间距较近情形下相对导航定位精度和稳定性具有良好的性能表现。Relative navigation based on data link ranging is an important navigation method for formation tasks in the case of satellite rejection.The composition and working principle of the relative navigation system is introduced.Aiming at asynchronous Time of Arrival(TOA)measurement,lack of observability,and continuous divergence of inertial navigation errors,especially the relative positioning problem where the distance between members is close and the distance estimation error accounts for a large proportion compared with the actual distance,the relative navigation algorithm architecture based on error accumulation correction is studied,the filtering state and measurement equation are established,and the experimental verification in the field situation is carried out.The research shows that the relative navigation algorithm studied in the paper has good performance for the relative navigation positioning accuracy and stability in the case of close member spacing.

关 键 词：相对导航 卡尔曼滤波 误差累加校正 

分 类 号：TN961[电子电信—信号与信息处理]