导弹编队自主导航方法研究
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摘要
为了提高单个导弹的作战能力,发挥不同型号导弹的威力,导弹协同作战成为了未来作战的必然趋势。本文基于此背景,研究了导弹编队过程中的自主导航方法和固定目标的定位方法。主要内容包括:
1.本文将捷联惯导作为跟随弹的主导航系统,针对巡航导弹飞行弹道特点,将导航方程建立在发射地心坐标系下,使得导航方程简单,描述导弹弹道更简单。
2.针对领航弹-攻击弹这一作战模式,提出了一种导航方案,即在平飞段,利用领航弹的高精度导航信息来提高队形中其它成员导航信息,领航弹将自己的状态发给跟随弹,各跟随弹通过测量自己与领航弹之间的相对信息,来提高自身的导航精度。该方法通信简单,实现起来比较容易。
3.对捷联惯导的误差和观测设备的误差进行了建模和分析,针对捷联惯导的缺点,研究了惯导和多普勒雷达组合的组合导航系统,并分别对捷联惯导和组合导航进行了仿真。
4.对固定目标的定位进行了研究,研究了扩展卡尔曼滤波(EKF)和递推最小二乘(RSL)两种无源定位方法,并对这两种方法进行了对比分析。
In order to improve the single missile’s combat ability and enhance the operation effectiveness of different missile weapon systems ,missile cooperation will be the inexorable trend. Base on this background, this dissertation study the autonomous navigation technology during the missile formation and the method of locating the fixed target.
First of all,INS is still the standard configuration,so we still use SINS as the main navigation system.According to the trajectory of the aerodynamic missile,we establish the navigation equation in the launch coordinate which is fixed to earth, which means the navigation equation will be very simple and the missile’s trajectory can be easily described.
Furthermore ,due to the leader-follower formation, a missile-to-missle tracking method is presented in the cruise section,which employes the leader’s high precision navigation information to improve the followers’navigation results in the formation. The leader broadcasts its navigation state to the follower and the follower measure the relative state about the leader, then use the Kalman filter to improve the follower’s navigation results. This way are very easy to realized.
What’s more ,we model and analyse the error of the strapdown inertial navigation and the measuring device, for the defect of the strapdown inertial navigation, we studied a integrated navigation method which consists of the Doppler radar and Inertial navigation , and simulate the two methods respectively.
Last ,but not least ,we use Extended Kalman Filtering (EKF) and Recursive least square (RSL) two ways to locate the fixed target respectively, and analysed the results between the two methods.
1.本文将捷联惯导作为跟随弹的主导航系统,针对巡航导弹飞行弹道特点,将导航方程建立在发射地心坐标系下,使得导航方程简单,描述导弹弹道更简单。
2.针对领航弹-攻击弹这一作战模式,提出了一种导航方案,即在平飞段,利用领航弹的高精度导航信息来提高队形中其它成员导航信息,领航弹将自己的状态发给跟随弹,各跟随弹通过测量自己与领航弹之间的相对信息,来提高自身的导航精度。该方法通信简单,实现起来比较容易。
3.对捷联惯导的误差和观测设备的误差进行了建模和分析,针对捷联惯导的缺点,研究了惯导和多普勒雷达组合的组合导航系统,并分别对捷联惯导和组合导航进行了仿真。
4.对固定目标的定位进行了研究,研究了扩展卡尔曼滤波(EKF)和递推最小二乘(RSL)两种无源定位方法,并对这两种方法进行了对比分析。
In order to improve the single missile’s combat ability and enhance the operation effectiveness of different missile weapon systems ,missile cooperation will be the inexorable trend. Base on this background, this dissertation study the autonomous navigation technology during the missile formation and the method of locating the fixed target.
First of all,INS is still the standard configuration,so we still use SINS as the main navigation system.According to the trajectory of the aerodynamic missile,we establish the navigation equation in the launch coordinate which is fixed to earth, which means the navigation equation will be very simple and the missile’s trajectory can be easily described.
Furthermore ,due to the leader-follower formation, a missile-to-missle tracking method is presented in the cruise section,which employes the leader’s high precision navigation information to improve the followers’navigation results in the formation. The leader broadcasts its navigation state to the follower and the follower measure the relative state about the leader, then use the Kalman filter to improve the follower’s navigation results. This way are very easy to realized.
What’s more ,we model and analyse the error of the strapdown inertial navigation and the measuring device, for the defect of the strapdown inertial navigation, we studied a integrated navigation method which consists of the Doppler radar and Inertial navigation , and simulate the two methods respectively.
Last ,but not least ,we use Extended Kalman Filtering (EKF) and Recursive least square (RSL) two ways to locate the fixed target respectively, and analysed the results between the two methods.
引文
1林涛,刘永才.飞航导弹协同作战使用方法探讨.战术导弹技术. 2005.3
2从敏.俄罗斯掀起SS-N-19导弹的神秘面纱[J].飞航导弹,2001,(12).
3刘桐林.库尔斯克核潜艇与花岗岩反舰导弹[J].飞航导弹,2002,(3).
4水恒淼,谢军.集群无人作战飞机相对导航研究.中国惯性技术学报. 2005.2
5衣晓,何友.基于最近邻的协同定位模型研究.飞行力学2004.8
6衣晓,何友,关欣.多模型算法在协同定位中的应用.武汉大学学报. 2004.12
7衣晓,何友,关欣.主被动结合的协同定位模型研究.电子学报. 2006.8
8彭锐晖,王国宏.两弹协同定位的可行性研究.系统仿真学报. 2006.5
9林金永,李刚.导弹自主飞行编队的互定位方法研究.电子学报. 2007.12
10 ZHANG Li-chuan, LIU Ming-yong Cooperative Localization and Navigation for Multiple UUVs Journal of System Simulation 2008.
11朱家海.惯性导航.国防工业出版社.2008.
12李跃,邱致和.导航与定位.国防工业出版社.2008.
13房建成,宁晓琳,田玉龙.航天器自主天文导航原理与方法.国防工业出版社, 2006.
14刘袆梅,苏成岭,王敬,邢岩.欧洲伽利略卫星导航系统结合地理信息系统的应用研究.中国土地科学, 2008, 22(1):71-73
15白华.国外导航卫星系统的最新发展.电子信息对抗技术, 2009, 24(2):41-46.
16王杰华.日本卫星导航系统.中国航天. 2008(1):39-42.
17郑睿.中国卫星导航系统的最新进展.卫星与网络, 2009(4): 61-63.
18 J Shao,G Xie,J Yu,L Wang. Leader-Following Formation Control of Multiple Mobile Robots. Intelligent Control, 2005. Proceedings of the 2005 IEEE.
19 Kim Luu,Maurice Martin. University Nanosatellite Distributed Satellites Capability to Support TechSat221 , AIAA/ USU Small Satellite Coference [C] .Logan UT,23226 ,Aug. 1999.
20 Keatfott Dvision. Navigation Program Spec for JTIDS, singer corporation.
21 ITT Avionics Division. "JTDS Advanced Development Model" Draft reportNADC-75297-60-ActionItem3A,Contract.N62269-76-C-0105,November,1976.
22周婷婷.基于JTIDS相对导航卡尔曼滤波算法的研究.电子科技大学. 2007.6
23蔡里宁.基于JTIDS相对导航算法与理论研究.西安电子科技大学.2004.1
24荆武兴,崔乃刚,巨涛.基于高动态GPS接收机输出数据的卫星自主导航.宇航学报, 2000,12(6):23-29.
25罗世杰.高超声速巡航飞行器导航系统方案研究.西北工业大学硕士学位论文. 2006.
26张娟.多普勒导航雷达测频精度研究.西安电子科技大学.2006.1
27张建.惯导与多普勒组合导航技术仿真.哈尔滨工程大学.2009.3
28 David H.Titterton,john L.Weston. Strapdown Inertial Navigation Technology.
29 Julier S J,Uhlmann J,Durrant-Whyte H F. A New Method for the Nonlinear Transformation of Means and Covariances in Filters and Estimators. IEEE Trans. on Automatic Control,2000,Vol.45 :477～482.
30周凤崎,孙东,周军.基于非线性滤波技术的多航天器编队飞行相对导航.宇航学报. 2005.2
31黄建伟.无源定位技术研究.西安电子科技大学.2009.2
32孙仲康,陈辉煌.定位导航与制导.国防工业出版社.1987.
33郭福成,孙仲康,安玮.对运动辐射源的单站无源伪线性定位跟踪算法.
34李宗华,冯道旺,周一宇,孙仲康.一种固定单站对运动辐射源的无源定位跟踪算法.国防科技大学学报.2003.4.
35 Winter. Application of statistical techniques to landmark navigation, Navigation,Vo117,No4,1970-1971.
36 Winter. On the accuracy analysis of airborne techniques for passively locating electromagnetic emitters,AD729767.
37 J.L.Poirot,G.v.McWilliams. Application of linear stastic models to radar location techniques,TIEEE,Vol AES-10,No6,Nov.1974.
38 J.L.Poirot,G.v.McWilliams. Navigation by back triangulation, TIEEE,Vol ASE-12,No2,March.1976.
39 D.H.Watjen. Passive detection and ranging of a ground radar from an aircraft using an E.K.F,AD760764,March 1973.
40 V.J.Aidala. Kalman filter behavior in bearing only tracking application, TIEEE,Vol AES-15,No1,Jan 1979.
41 S.C.Nardone,V.J.Aidala. Observability criteria for bearing only target motion analysis, TIEEE,Vol AES-17,No2,March 1981.
42 S.C.Nardone & V.J.Aidala. Biased Estimation properties of the pseudo-linear tracking filter, TIEEE,Vol AES-18,No4,July 1982.
43 V.J.Aidala,S.E.Hammel. Utilization of modified Polar Coordinates for bearing only tracking,TIEEE, Vol AC-28, No3, March 1983.
44钱杏芳,张鸿端,林端雄.导弹飞行力学.北京工业学院出版社.1987.
45刘徐德,战术通信、导航定位和识别综合系统文集(第1集)[M].北京:电子工业出版社,1991.
46邓自立.最优滤波理论及其应用,哈尔滨工业大学出版社,2000
47张婧,景占荣.简化的UKF方法在多普勒雷达对目标跟踪中的应用.活力与指挥控制. 2008.5
48 Kalman RE. A new approach to linear filtering and prediction problems. Journal of Basic Engineering Trans. ON ASME,1960,82D(1):35-45
49王国宏,钟晓军.雷达目标跟踪中的非线性滤波技术.海军航空工程学院学报. 2004.9.
50王玲.基于相对观测量的多机器人定位.国防科技大学学报.2006.11.
2从敏.俄罗斯掀起SS-N-19导弹的神秘面纱[J].飞航导弹,2001,(12).
3刘桐林.库尔斯克核潜艇与花岗岩反舰导弹[J].飞航导弹,2002,(3).
4水恒淼,谢军.集群无人作战飞机相对导航研究.中国惯性技术学报. 2005.2
5衣晓,何友.基于最近邻的协同定位模型研究.飞行力学2004.8
6衣晓,何友,关欣.多模型算法在协同定位中的应用.武汉大学学报. 2004.12
7衣晓,何友,关欣.主被动结合的协同定位模型研究.电子学报. 2006.8
8彭锐晖,王国宏.两弹协同定位的可行性研究.系统仿真学报. 2006.5
9林金永,李刚.导弹自主飞行编队的互定位方法研究.电子学报. 2007.12
10 ZHANG Li-chuan, LIU Ming-yong Cooperative Localization and Navigation for Multiple UUVs Journal of System Simulation 2008.
11朱家海.惯性导航.国防工业出版社.2008.
12李跃,邱致和.导航与定位.国防工业出版社.2008.
13房建成,宁晓琳,田玉龙.航天器自主天文导航原理与方法.国防工业出版社, 2006.
14刘袆梅,苏成岭,王敬,邢岩.欧洲伽利略卫星导航系统结合地理信息系统的应用研究.中国土地科学, 2008, 22(1):71-73
15白华.国外导航卫星系统的最新发展.电子信息对抗技术, 2009, 24(2):41-46.
16王杰华.日本卫星导航系统.中国航天. 2008(1):39-42.
17郑睿.中国卫星导航系统的最新进展.卫星与网络, 2009(4): 61-63.
18 J Shao,G Xie,J Yu,L Wang. Leader-Following Formation Control of Multiple Mobile Robots. Intelligent Control, 2005. Proceedings of the 2005 IEEE.
19 Kim Luu,Maurice Martin. University Nanosatellite Distributed Satellites Capability to Support TechSat221 , AIAA/ USU Small Satellite Coference [C] .Logan UT,23226 ,Aug. 1999.
20 Keatfott Dvision. Navigation Program Spec for JTIDS, singer corporation.
21 ITT Avionics Division. "JTDS Advanced Development Model" Draft reportNADC-75297-60-ActionItem3A,Contract.N62269-76-C-0105,November,1976.
22周婷婷.基于JTIDS相对导航卡尔曼滤波算法的研究.电子科技大学. 2007.6
23蔡里宁.基于JTIDS相对导航算法与理论研究.西安电子科技大学.2004.1
24荆武兴,崔乃刚,巨涛.基于高动态GPS接收机输出数据的卫星自主导航.宇航学报, 2000,12(6):23-29.
25罗世杰.高超声速巡航飞行器导航系统方案研究.西北工业大学硕士学位论文. 2006.
26张娟.多普勒导航雷达测频精度研究.西安电子科技大学.2006.1
27张建.惯导与多普勒组合导航技术仿真.哈尔滨工程大学.2009.3
28 David H.Titterton,john L.Weston. Strapdown Inertial Navigation Technology.
29 Julier S J,Uhlmann J,Durrant-Whyte H F. A New Method for the Nonlinear Transformation of Means and Covariances in Filters and Estimators. IEEE Trans. on Automatic Control,2000,Vol.45 :477～482.
30周凤崎,孙东,周军.基于非线性滤波技术的多航天器编队飞行相对导航.宇航学报. 2005.2
31黄建伟.无源定位技术研究.西安电子科技大学.2009.2
32孙仲康,陈辉煌.定位导航与制导.国防工业出版社.1987.
33郭福成,孙仲康,安玮.对运动辐射源的单站无源伪线性定位跟踪算法.
34李宗华,冯道旺,周一宇,孙仲康.一种固定单站对运动辐射源的无源定位跟踪算法.国防科技大学学报.2003.4.
35 Winter. Application of statistical techniques to landmark navigation, Navigation,Vo117,No4,1970-1971.
36 Winter. On the accuracy analysis of airborne techniques for passively locating electromagnetic emitters,AD729767.
37 J.L.Poirot,G.v.McWilliams. Application of linear stastic models to radar location techniques,TIEEE,Vol AES-10,No6,Nov.1974.
38 J.L.Poirot,G.v.McWilliams. Navigation by back triangulation, TIEEE,Vol ASE-12,No2,March.1976.
39 D.H.Watjen. Passive detection and ranging of a ground radar from an aircraft using an E.K.F,AD760764,March 1973.
40 V.J.Aidala. Kalman filter behavior in bearing only tracking application, TIEEE,Vol AES-15,No1,Jan 1979.
41 S.C.Nardone,V.J.Aidala. Observability criteria for bearing only target motion analysis, TIEEE,Vol AES-17,No2,March 1981.
42 S.C.Nardone & V.J.Aidala. Biased Estimation properties of the pseudo-linear tracking filter, TIEEE,Vol AES-18,No4,July 1982.
43 V.J.Aidala,S.E.Hammel. Utilization of modified Polar Coordinates for bearing only tracking,TIEEE, Vol AC-28, No3, March 1983.
44钱杏芳,张鸿端,林端雄.导弹飞行力学.北京工业学院出版社.1987.
45刘徐德,战术通信、导航定位和识别综合系统文集(第1集)[M].北京:电子工业出版社,1991.
46邓自立.最优滤波理论及其应用,哈尔滨工业大学出版社,2000
47张婧,景占荣.简化的UKF方法在多普勒雷达对目标跟踪中的应用.活力与指挥控制. 2008.5
48 Kalman RE. A new approach to linear filtering and prediction problems. Journal of Basic Engineering Trans. ON ASME,1960,82D(1):35-45
49王国宏,钟晓军.雷达目标跟踪中的非线性滤波技术.海军航空工程学院学报. 2004.9.
50王玲.基于相对观测量的多机器人定位.国防科技大学学报.2006.11.