摘要
在自主近距空中加油过程中,无人机通常利用机间数据链进行导航数据共享,解算获得高精度的相对导航信息。机间数据链受扰中断时,在常规相对导航策略失效的情况下,无人机通过搭载的态势感知传感器对未知环境进行探索。针对受油机与非合作目标加油机间中远距离相对导航问题,提出了一种测距测角信息下的相对状态估计算法。考虑到测距测角信息下算法的强非线性,在迭代扩展Kalman滤波(Iterative Extended Kalman Filter, IEKF)的基础上,利用信赖域狗腿(DG)优化算法,提出了一种DG-IEKF算法,并推导了该算法在迭代过程中的状态更新方程与协方差阵更新方程,最后给出了该算法的相对导航仿真结果。仿真实验结果表明,该算法导航精度优于现广泛使用的扩展Kalman滤波算法(Extended Kalman Filter, EKF)与IEKF算法,在RMSE方面与EKF相比,相对位置综合精度提高了35.55%,相对速度综合精度提高了19.20%,具有较高的可靠性与稳定性。
In the process of UAVs’ autonomous short-range aerial refueling, the inter-aircraft data link is usually used to share navigation data to obtain high-precision relative navigation information. When the inter-aircraft data link is disrupted and the conventional relative navigation strategy fails, the UAV explores the unknown environment through its equipped situational awareness sensors. Aiming at the medium and long-distance relative navigation problem between the oil receiver and the non-cooperative fuel dispenser, a relative state estimation algorithm based on range and angle information is proposed. Taking into account the strong nonlinearity of the algorithm under the range and angle measurement information, based on the iterative extended Kalman filter(IEKF), a DG-IEKF algorithm is proposed by using the trust region dogleg(DG) optimization algorithm. The state update equation and covariance matrix update equation of the algorithm in the iterative process are derived. Finally, the relative navigation simulation results of the algorithm are given. The simulation experiment results show that the algorithm has high reliability and stability, and the navigation accuracy is better than the widely used extended Kalman filter(EKF) and IEKF algorithms. Compared with EKF in root mean square error(RMSE), the comprehensive accuracy of relative position is improved by 35.55%, and the comprehensive accuracy of relative speed is improved by 19.20%.
作者
刘梓轩
孙永荣
曾庆化
赵科东
LIU Zi-xuan;SUN Yong-rong;ZENG Qing-hua;ZHAO Ke-dong(Navigation Research Center,College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016)
出处
《导航与控制》
2021年第3期34-43,共10页
Navigation and Control
关键词
空中加油
相对导航
迭代扩展Kalman滤波
信赖域狗腿算法
测距测角
aerial refueling
relative navigation
iterative extended Kalman filter(IEKF)
trust region dog-leg algorithm
ranging and angle measurement
