摘要
为满足武器发射车辆对车载导航系统自主性、精确性和可靠性的要求,设计了一种RSINS/里程计容错组合导航方案。首先,在对里程计不同量测信息特点分析的基础上,建立了基于里程增量匹配方式的RSINS/里程计组合导航系统模型。其次,根据对RSINS/里程计组合导航系统模型的可观测性分析结果,建立了一种可观的RSINS/里程计组合导航系统模型,并针对车辆行驶过程中里程计可能发生的量测信息不可用问题,设计了一种基于序贯卡尔曼滤波的RSINS/里程计容错组合导航信息融合方案。最后,通过仿真验证表明,RSINS/里程计容错组合导航方案能够保证组合系统的导航精度和可靠性。
In order to meet the requirements of autonomous,accuracy and reliability of vehicle navigation system for weapon launch vehicles,a fault-tolerant integrated navigation scheme of RSINS/odometer is designed.Based on the analysis of the characteristics of different odometer measurement information,the RSINS/odometer integrated navigation system model based on mileage increment matching mode is established.According to the results of the observability analysis of the RSINS/odometer integrated navigation system model,an observable RSINS/odometer integrated navigation system model is established.A fault-tolerant integrated navigation information fusion scheme of RSINS/odometer based on sequential Kalman filter is designed to solve the problem that odometer measurement information may not be available during vehicle driving.Finally,the simulation results show that the RSINS/odometer fault-tolerant integrated navigation scheme can ensure the navigation accuracy and reliability of the integrated system.
作者
杨洁
申亮亮
王新龙
蔡远文
陈鼎
Yang Jie;Shen Liangliang;Wang Xinlong;Cai Yuanwen;Chen Ding(School of Astronautics,Beihang University,Beijing 100083,China;Beijing Institute of Control&Electronic Technology,Beijing 100038,China;Department of Graduate School,Space Engineering University,Beijing 101416,China;State Key Laboratory of Space-Ground Information Technology,Beijing 100086,China)
出处
《航空兵器》
CSCD
北大核心
2021年第2期93-99,共7页
Aero Weaponry
基金
国家自然科学基金项目(61673040)
航空科学基金项目(20170151002)
试验技术项目(1700050405)
天地一体化信息技术国家重点实验室基金项目(2015-SGIIT-KFJJ-DH-01)
重点基础研究项目(2020-JCJQ-ZD-136-12)。
