基于抗差平方根容积卡尔曼滤波的惯导姿态空中修正算法  

An In-flight INS-attitude-correction Algorithm Based on Robust SRCKF

作　　者：朱勋磊 谢文龙 李庆波 李芳 ZHU Xunlei;XIE Wenlong;LI Qingbo;LI Fang(Shanghai Electromechanical Engineering Institute,Shanghai 201109,China)

机构地区：[1]上海机电工程研究所,上海201109

出　　处：《弹箭与制导学报》2024年第5期75-81,共7页Journal of Projectiles,Rockets,Missiles and Guidance

摘　　要：MEMS加速度计和陀螺仪在近程末端战术导弹中已大量使用,受其精度限制,导弹的惯导解算误差不可忽略,对复合制导体制的制导模式空中交班可能存在较大影响。为实现导弹飞行过程中惯导姿态误差的有效修正,提升导弹中末制导交班概率,文中提出一种基于抗差平方根容积卡尔曼滤波的惯导姿态空中修正算法,建立适用近程末端战术导弹的惯导姿态误差空中估计模型,利用地面跟踪雷达对导弹位置的观测信息,结合SRCKF滤波与抗差算法,对惯导姿态误差角进行估计与修正,降低导弹飞行过程中的姿态误差。仿真结果表明,基于抗差SRCKF的惯导姿态空中修正算法可显著降低导弹飞行过程中的姿态解算误差,且能够大幅抑制地面雷达观测粗差对修正效果的影响,验证了算法的有效性和鲁棒性。MEMS inertial measurement units are commonly used in short-range and terminal phase of tactical missiles.Due to their accuracy constraints,the inertial navigation resolving error of the missile cannot be neglected,it may have a significant impact on the guidance mode switching of a compound guidance system of missile in flight.In order to realize effective correction to the inertial navigation attitude error of the missile inflight and enhance the middle-terminal phase switching probability of the missile,this paper proposes an inertial navigation inflight attitude correction algorithm based on the robust square root cubature Kalman filter(SRCKF)and establish an inertial navigation inflight attitude error estimation mode suitable for short-range and terminal phase of the tactical missile,it uses the observation information of the missile location obtained by a ground tracking radar,alongwith the SRCKF filtering and robust algorithm,to perform estimate and correction to the inertial navigation attitude error angle and to reduce the attitude error of the missile inflight.Simulation results show that the algorithm can significantly correct the attitude resolving error for the missile inflight and greatly restrain the influence of the ground radar observing gross error to the correction effect,and verify the effectiveness and the robustness of the algorithm.

关 键 词：MEMS 战术导弹 复合制导 惯导姿态空中修正 抗差SRCKF 

分 类 号：TJ765.1[兵器科学与技术—武器系统与运用工程]