摘要
在现有惯导/卫星组合导航系统的基础上,为了进一步提升导航系统的鲁棒性,在不增加硬件基础上,利用构建的弹道模型,提出了一种惯导/卫星/弹道多源导航方案。该方案首先构建弹道模型得到炮弹的飞行轨迹,通过弹道解算得到弹丸的瞬时姿态、速度以及位置等信息;其次,当检测到卫星信号失常时,将弹道解算得到的位置、速度信息作为卡尔曼滤波的观测量,对导航状态量进行修正;再次,每隔一定时间以当前修正后状态量作为初始量,重新构建弹道,重复上述滤波过程。仿真验证结果表明,该方案在卫星信号不同状况下都可以较好地约束导航误差,得到较为精确的导航定位数据。
On the basis of the existing inertial navigation/satellite integrated navigation system,in order to further improve the robustness of the navigation system without adding hardware,the constructed ballistic model is used to form an inertial navigation/satellite/ballistic multi-source navigation scheme.The program first builds a ballistic model to obtain the flight trajectory of the projectile,and obtains the projectile's instantaneous attitude,velocity,and position information through ballistic calculation;secondly,when the satellite signal is detected to be abnormal,the position and speed information obtained by the ballistic calculation is used as the kalman filter observations are used to correct the navigation state;again,at regular intervals,the current corrected state is used as the initial quantity to reconstruct the trajectory and repeat the above filtering process.Simulation verification results show that the scheme can better constrain navigation errors under different conditions of satellite signals,and obtain more accurate navigation and positioning data.
作者
殷佳伟
朱建良
薄煜明
YIN Jia-wei;ZHU Jian-liang;BO Yu-ming(School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China)
出处
《淮阴工学院学报》
CAS
2021年第3期14-19,共6页
Journal of Huaiyin Institute of Technology
基金
南京市产学研合作后补助项目(201722005)。
关键词
弹道辅助
惯导系统
组合导航
ballistic model
multi-source navigation
kalman filter
