面向无人机载微惯导的一种改进自适应传递对准算法  

Improved Adaptive Transfer Alignment Algorithm for UAV-Borne Micro-Inertial Navigation

作　　者：程耀强 杨鹏翔[1] 孙铭垚 赵志远 CHENG Yaoqiang;YANG Pengxiang;SUN Mingyao;ZHAO Zhiyuan(Xi’an Institute of Modern Control Technology,Xi’an 710065,China)

机构地区：[1]西安现代控制技术研究所,陕西西安710065

出　　处：《压电与声光》2025年第1期172-180,共9页Piezoelectrics & Acoustooptics

基　　金：中央军委国防基础研究项目(2019-JCJQ-2D-078);装备发展部装备发展预研项目(170441418010)。

摘　　要：传递对准是微惯导应用于精确制导武器的关键技术,关系着机载武器系统的作战效能。该文研究了微惯导在腾盾无人机上挂飞的传递对准方案。首先基于“速度+姿态”匹配传递对准方案,提出了一种改进自适应Kalman滤波方法,将杆臂效应和数据延时分别进行在线补偿和实时估计。然后基于腾盾无人机平台进行算法挂飞验证,与经典Kalman滤波方法相比,改进算法可有效提升传递对准的性能,满足航向角对准精度为0.65°(1σ)的要求。同时重点分析了在无人机S形转弯机动辅助摇翼传递对准模式下,航向失准角估计精度下降的原因。最后对微惯导传递对准方法和性能进行综合分析和评判,并给出适合实战的实用方案。Transfer alignment is the key technology for the low-cost micro-inertial navigation system implemented in precision-guided weapons,which relates to the combat effectiveness of the weapon system.This study investigated the transfer alignment method of a low-cost micro-inertial navigation system based on flight tests of an unmanned aerial vehicle(UAV)from TENGDUN Technology.First,an improved adaptive Kalman filter was proposed based on an analysis of the velocity and attitude matching method,whereby the lever effect and data delay were compensated online and estimated in real-time.Subsequently,the algorithm was flight-tested on the TENGDUN UAV platform.Compared with the traditional Kalman filter method,the improved algorithm effectively improved the performance of transfer alignment and aligned the accuracy of the heading angle to meet the requirements of 0.65°(1σ).Selective analysis was conducted to determine the reason for the reduction in course misalignment angle estimation precision under the transfer alignment mode of the S-shaped turning maneuver-assisted wing of the UAV.Finally,the low-cost micro-inertial navigation system transfer alignment method and performance were analyzed and evaluated comprehensively,based on which a practical solution suitable for actual combat was provided.

关 键 词：腾盾无人机 微惯导 传递对准 自适应 失准角 

分 类 号：TJ765.3[兵器科学与技术—武器系统与运用工程] TN965[电子电信—信号与信息处理]