基于惯性/测速测距传感器的车载自主式容错组合导航方法  

An Autonomous Fault-tolerant Integrated Navigation Method Based on Inertial/Velocity and Distance Sensors in Vehicles

作　　者：王潇屹 杨波 刘枫 WANG Xiaoyi;YANG Bo;LIU Feng(A Certain Department of Rocket Force,Xi’an 710407;College of Missile Engineering,Rocket Force University of Engineering,Xi’an 710025)

机构地区：[1]火箭军某部,西安710407 [2]火箭军工程大学导弹工程学院,西安710025

出　　处：《导航与控制》2024年第5期145-153,173,共10页Navigation and Control

基　　金：陕西省自然科学基金(编号:2020JM-355)。

摘　　要：为了在卫星拒止环境下实现载车的自主式容错导航,提出利用自主性强的捷联惯性导航系统与测速测距传感器进行组合导航。测速传感器选择车载多普勒测速雷达,测距传感器选择里程计。对捷联惯导系统、多普勒测速雷达、里程计分别进行误差分析与建模,将捷联惯导系统误差等作为状态,建立组合导航的状态方程;利用捷联惯导的速度、姿态输出,与多普勒测速雷达的速度输出、里程计的路程输出分别构建惯性/多普勒雷达、惯性/里程计组合导航的量测,建立相应的量测方程;采用联邦滤波容错结构,对惯性/多普勒雷达、惯性/里程计组合导航局部滤波的结果进行全局融合。仿真验证结果表明,该方法不仅能够实现载车的自主式容错导航,而且具有较高的导航定位精度:传感器无故障情况下,定位精度优于27.1 m,航向精度优于5.6′,水平姿态精度优于0.2′;而当某一传感器出现故障时,定位精度优于49.6 m,航向精度优于8.5′,水平姿态精度优于0.3′。In order to achieve autonomous fault-tolerant navigation for vehicles in satellite signal rejection environment,an integrated navigation method using a strapdown inertial navigation system and distance sensor is proposed.For the velocity sensor,a vehicle Doppler velocity radar is selected,and for the distance sensor,an odometer is selected.The error analysis and modeling of strapdown inertial navigation system,Doppler velocity radar and odometer are carried out respectively,and the state equation of the integrated navigation is established by taking the errors of the strapdown inertial navigation system and others as states.The measurements of inertial/Doppler radar and inertial/odometer integrated navigation are respectively constructed by using the velocity and attitude output of strapdown inertial navigation system,the velocity output of Doppler velocity radar and the distance output of odometer,and the corresponding measurement equations are established.The federated filtering fault-tolerant structure is adopted to fuse the results of local filtering inertial/Doppler radar and inertial/odometer integrated navigation globally.The simulation results show that this method can not only achieve autonomous fault-tolerant navigation for vehicles,but also has high navigation accuracy.The positioning accuracy is better than 27.1 m without sensor failure,the heading accuracy is better than 5.6′,and the horizontal attitude accuracy is better than 0.2′,while the positioning accuracy is better than 49.6 m,the heading accuracy is better than 8.5′,and the horizontal attitude accuracy is better than 0.3′in the event of a sensor failure.

关 键 词：车载自主导航 容错组合导航 捷联惯导系统 多普勒测速雷达 里程计 

分 类 号：V249.3[航空宇航科学与技术—飞行器设计]