大失准角条件下制导炮弹组合导航方法研究  

An Integrated Navigation Method of the Guided Shell Under Large Misalignment Angle

作　　者：卢宝峰 梅春波 杨鹏翔[1] 张昊 LU Baofeng;MEI Chunbo;YANG Pengxiang;ZHANG Hao(Xi'an Modern Control Technology Research Institute,Xi'an 710065,Shanxi,China)

机构地区：[1]西安现代控制技术研究所,陕西西安710065

出　　处：《弹箭与制导学报》2024年第5期115-120,共6页Journal of Projectiles,Rockets,Missiles and Guidance

摘　　要：制导炮弹多采用发射后上电空中对准的方式实现导航初始信息的获取,初始姿态信息中滚转角的获取难度远高于俯仰角和偏航角。针对空中对准中滚转角信息获取难度较高的问题,提出了一种适用于大初始滚转角误差的组合导航方法,旨在省略滚转角对准过程和压缩空中对准时间。通过在组合导航状态向量中引入四元数误差,将状态方程的强非线性误差模型转换为了二阶非线性模型,降低了系统的复杂度。在此基础上,采用二阶扩展卡尔曼滤波方法实现惯性导航系统各项误差的估计,并基于四元数模1约束设计了优化的量测更新方法。各量级初始滚转角误差下的半实物仿真结果表明:所设计方法可适应大初始滚转角误差情况,7 s内滚转角误差可由180°收敛至10°内;各量级初始滚转角误差下收敛位置稳定一致,有效的提升了组合导航的适应性。Guided projectile usually adopts inflight alignment as power-on after launching to obtain initial navigation information,among them,the roll angle in the initial attitude information is more difficult to obtain than the pitch and the yaw.The article proposes a combined navigation solution suitable for large initial roll angle error to solve the difficulty of obtaining the roll angle information in the in-flight alignment,it can omit the roll angle alignment and shorten the inflight alignment period.Introducing quaternion error to the combined navigation state vector and converting strong-nonlinear model of the state equation into second-order nonlinear model can decrease the complexity of the system.On this basis,the second-order extended Kalman equation is used to estimate each error of the inertial navigation system and using quaternion mathematical model 1 constraints can get an optimized measurement update method.A hardware-in-loop simulation result for each order of magnitude of the initial roll angle error shows that this method is suitable for large initial roll angle error,the roll angle error can be converged from 180°to less than 10°within 7 s,and the convergence position is stable and consistent for each order of magnitude of the initial roll angle,and it can effectively improve the adaption of the combined navigation.

关 键 词：组合导航系统 二阶非线性 大失准角 扩展卡尔曼滤波 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]