机载捷联惯性/天文组合导航系统关键技术研究
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摘要
天文导航是一种独立的、近自主的导航方式，天文导航通过天体敏感设备观测天体，从而直接解算出载体的位置、姿态等信息。天文导航所观测的目标是不能被人为摧毁和破坏的自然天体，且不受到地域限制，因此天文导航成为现代高科技战争中不可或缺的重要的导航方式，是各军事强国的研究重点。本文针对天文导航的特点，对机载环境下捷联惯性/天文组合导航系统中的惯性/天文松组合技术、惯性/天文紧组合技术、以及适应惯性/天文组合系统应用的非线性滤波方法等关键技术进行了深入研究，为提高惯性/天文组合导航系统的性能奠定理论基础。
本文结合机载天文导航定位的应用需求，深入研究天文导航定位的基本原理，结合星体跟踪器工作原理研究并提出了机载捷联安装方式下的天文导航定位算法。针对机载捷联安装方式下天文导航定位受到水平姿态基准精度制约的问题，提出了基于机载天文定姿修正实现的高精度虚拟水平姿态基准构造技术，并进一步提出了基于虚拟水平姿态基准修正的机载捷联天文定位方案及算法，有效提高了天文导航定位精度。
为有效利用天文导航系统信息，实现对惯性误差的综合修正，提高组合系统的综合性能，本文研究了基于天文位置、姿态观测的机载惯性/天文松组合导航系统。针对常规惯性/天文组合模式中，天文导航定位系统只能提供二维地理经、纬度信息，研究并提出了利用气压高度表辅助的惯性/天文松组合导航方案，解决了惯性导航系统高度通道不可观测的问题。基于天文星光姿态观测信息，本文从加性四元数误差模型出发，研究并提出了基于加性四元数误差补偿的机载捷联惯性/天文姿态组合导航方案和算法，推导了四元数误差传播特性模型，构建了基于加性四元数的机载捷联惯性/天文姿态组合导航方案和算法模型，为提高组合系统姿态定位精度奠定基础。
为进一步提高机载惯性/天文组合导航系统性能，在惯性/天文松组合导航模式研究基础上，对惯性/天文组合导航方案和算法进行了更为深入的研究。通过对天文角度观测关系的研究，建立了基于位置误差建模的机载捷联惯性/天文紧组合导航模型，研究并提出了基于位置误差建模的机载捷联惯性/天文角度观测紧组合算法。以此为基础，本文还进一步考虑了天文导航系统捷联安装中的水平姿态基准误差，研究并提出了考虑捷联姿态误差影响的机载捷联惯性/天文角度紧组合导航方法。
考虑到天文观测过程中通常需要利用惯性系统提供的位置和姿态信息，因此其观测信息输出不可避免会受到惯性系统误差的影响，导致机载惯性/天文组合导航系统中的量测信息具有较强的非线性特性。为此，本文在惯性/天文角度观测紧组合导航工作模式下，针对性地分析了机载捷联惯性/天文组合非线性量测特性，在对比和分析各种非线性滤波方法的基础上，构建了机载捷联惯性/天文非线性组合方案。研究并提出了基于简化Unscented Kalman Filter(UKF)的机载惯性/天文非线性天文角度量测紧组合算法，有效解决惯性/天文组合中的非线性量测问题。
最后，本文在上述理论研究的基础上，还设计了机载捷联惯性/天文组合导航系统综合仿真平台，以实现对机载惯性/天文组合导航系统性能的综合验证。本文紧密结合机载惯性/天文组合导航应用需求，对机载惯性/天文组合导航所涉及的松组合、紧组合等关键技术进行了深入和系统的研究，论文的研究成果对于惯性/天文组合导航系统的工程应用具有重要的借鉴意义。
Celestial navigation is an independent, near autonomous navigation technology to determineone's geographic position and attitude by indentifying the observed celestial objects. Many powerfulmilitary nations put great efforts in the research on celestial navigation technology which is one of themost important navigation technologies in modern high-tech war for its independent characterbecause that the selected celestial objects for celestial observation can’t be destroyed by humanactivities and they are not subject to geographical restricts. Based upon the characteristics of celestialnavigation, this dissertation elaborates the research on key techniques including the loose integratedSINS/CNS technique and tight integrated SINS/CNS technique with the airborne environment, andthe nonlinear filtering adapting to SINS/CNS integrated system. The research provides the theoreticalbasis to improve its performances for SINS/CNS integrated system.
Considering the requirements for celestial position determination in airborne application, thispaper explores the basic theory of celestial position algorithm as the beginning and the celestialposition algorithm adaptive to airborne environment when the star tracker is strap assembled on aplane has been proposed. With the intention to remove the restrictions caused by horizontal coordinatein celestial position determination, the technique of establishing high precision horizontal attitudecoordinate was studied. The improved strap-down celestial navigation localization algorithm andproject based on virtual horizontal attitude coordinate correction was elaborated, which improved theprecision of celestial position determination effectively.
To correct the inertial error effectively through the celestial navigation system and improve thecomprehensive performances of the integrated navigation system, this paper studies the SINS/CNSloose integrated navigation system which is based on the measurement of celestial position andattitude information.To insure the observability of altitude channel of inertial navigation system, thescheme of integrated SINS/CNS assisted by barometric altimeter is also proposed. Furthermore, thispaper discusses the additive quaternion model with the attitude error of inertial system based on thecelestial attitude information. And a new inertial/celestial attitude integrated scheme based on thecompensation of additive quaternion with attitude error is presented which lays the foundation forimproving the precision of integrated system.
To further increase the performance of SINS/CNS integrated system, the algorithm of SINS/CNSintegrated navigation based on celestial angle observation is scrutinized on the basis of study on loose integrated mode. The tight integrated technology of SINS/CNS with the celestial angle measurementis studied on the analysis of the height angle and the azimuth angle information. And the tightintegrated mode based on position errors has been elaborated. Concerning the attitude errors in CNShorizontal attitude coordinate, the tight integrated SINS/CNS mode with the consideration of attitudeerrors has been presented in this dissertation.
Considering that the celestial measurement would be inevitably affected by the inertialnavigation error which leads that the observation equations are nonlinear，the nonlinear characteristicof measurement for SINS/CNS is analyzed and the unscented Kalman filter(UKF) is adopted toestablish the INS/CNS nonlinear integrated system. The tight integrated project of airborne INS/CNSwith simplified UKF based on celestial angle observation difference has been presented which solvesthe problem of nonlinear observation in SINS/CNS integrated navigation system.
Finally, to verify the performance of the SINS/CNS integrated navigation system proposed above,this paper designs a simulation platform for SINS/CNS integrated navigation system with detailedscheme.Focusing on the application of SINS/CNS integrated navigation system for flight, thisdissertation systematicly elaborated the research on both loose and tight integrated SINS/CNS.Theresearch on SINS/CNS integrated navigation system conducted by the author has importantsignificance on the engineering application.
本文结合机载天文导航定位的应用需求，深入研究天文导航定位的基本原理，结合星体跟踪器工作原理研究并提出了机载捷联安装方式下的天文导航定位算法。针对机载捷联安装方式下天文导航定位受到水平姿态基准精度制约的问题，提出了基于机载天文定姿修正实现的高精度虚拟水平姿态基准构造技术，并进一步提出了基于虚拟水平姿态基准修正的机载捷联天文定位方案及算法，有效提高了天文导航定位精度。
为有效利用天文导航系统信息，实现对惯性误差的综合修正，提高组合系统的综合性能，本文研究了基于天文位置、姿态观测的机载惯性/天文松组合导航系统。针对常规惯性/天文组合模式中，天文导航定位系统只能提供二维地理经、纬度信息，研究并提出了利用气压高度表辅助的惯性/天文松组合导航方案，解决了惯性导航系统高度通道不可观测的问题。基于天文星光姿态观测信息，本文从加性四元数误差模型出发，研究并提出了基于加性四元数误差补偿的机载捷联惯性/天文姿态组合导航方案和算法，推导了四元数误差传播特性模型，构建了基于加性四元数的机载捷联惯性/天文姿态组合导航方案和算法模型，为提高组合系统姿态定位精度奠定基础。
为进一步提高机载惯性/天文组合导航系统性能，在惯性/天文松组合导航模式研究基础上，对惯性/天文组合导航方案和算法进行了更为深入的研究。通过对天文角度观测关系的研究，建立了基于位置误差建模的机载捷联惯性/天文紧组合导航模型，研究并提出了基于位置误差建模的机载捷联惯性/天文角度观测紧组合算法。以此为基础，本文还进一步考虑了天文导航系统捷联安装中的水平姿态基准误差，研究并提出了考虑捷联姿态误差影响的机载捷联惯性/天文角度紧组合导航方法。
考虑到天文观测过程中通常需要利用惯性系统提供的位置和姿态信息，因此其观测信息输出不可避免会受到惯性系统误差的影响，导致机载惯性/天文组合导航系统中的量测信息具有较强的非线性特性。为此，本文在惯性/天文角度观测紧组合导航工作模式下，针对性地分析了机载捷联惯性/天文组合非线性量测特性，在对比和分析各种非线性滤波方法的基础上，构建了机载捷联惯性/天文非线性组合方案。研究并提出了基于简化Unscented Kalman Filter(UKF)的机载惯性/天文非线性天文角度量测紧组合算法，有效解决惯性/天文组合中的非线性量测问题。
最后，本文在上述理论研究的基础上，还设计了机载捷联惯性/天文组合导航系统综合仿真平台，以实现对机载惯性/天文组合导航系统性能的综合验证。本文紧密结合机载惯性/天文组合导航应用需求，对机载惯性/天文组合导航所涉及的松组合、紧组合等关键技术进行了深入和系统的研究，论文的研究成果对于惯性/天文组合导航系统的工程应用具有重要的借鉴意义。
Celestial navigation is an independent, near autonomous navigation technology to determineone's geographic position and attitude by indentifying the observed celestial objects. Many powerfulmilitary nations put great efforts in the research on celestial navigation technology which is one of themost important navigation technologies in modern high-tech war for its independent characterbecause that the selected celestial objects for celestial observation can’t be destroyed by humanactivities and they are not subject to geographical restricts. Based upon the characteristics of celestialnavigation, this dissertation elaborates the research on key techniques including the loose integratedSINS/CNS technique and tight integrated SINS/CNS technique with the airborne environment, andthe nonlinear filtering adapting to SINS/CNS integrated system. The research provides the theoreticalbasis to improve its performances for SINS/CNS integrated system.
Considering the requirements for celestial position determination in airborne application, thispaper explores the basic theory of celestial position algorithm as the beginning and the celestialposition algorithm adaptive to airborne environment when the star tracker is strap assembled on aplane has been proposed. With the intention to remove the restrictions caused by horizontal coordinatein celestial position determination, the technique of establishing high precision horizontal attitudecoordinate was studied. The improved strap-down celestial navigation localization algorithm andproject based on virtual horizontal attitude coordinate correction was elaborated, which improved theprecision of celestial position determination effectively.
To correct the inertial error effectively through the celestial navigation system and improve thecomprehensive performances of the integrated navigation system, this paper studies the SINS/CNSloose integrated navigation system which is based on the measurement of celestial position andattitude information.To insure the observability of altitude channel of inertial navigation system, thescheme of integrated SINS/CNS assisted by barometric altimeter is also proposed. Furthermore, thispaper discusses the additive quaternion model with the attitude error of inertial system based on thecelestial attitude information. And a new inertial/celestial attitude integrated scheme based on thecompensation of additive quaternion with attitude error is presented which lays the foundation forimproving the precision of integrated system.
To further increase the performance of SINS/CNS integrated system, the algorithm of SINS/CNSintegrated navigation based on celestial angle observation is scrutinized on the basis of study on loose integrated mode. The tight integrated technology of SINS/CNS with the celestial angle measurementis studied on the analysis of the height angle and the azimuth angle information. And the tightintegrated mode based on position errors has been elaborated. Concerning the attitude errors in CNShorizontal attitude coordinate, the tight integrated SINS/CNS mode with the consideration of attitudeerrors has been presented in this dissertation.
Considering that the celestial measurement would be inevitably affected by the inertialnavigation error which leads that the observation equations are nonlinear，the nonlinear characteristicof measurement for SINS/CNS is analyzed and the unscented Kalman filter(UKF) is adopted toestablish the INS/CNS nonlinear integrated system. The tight integrated project of airborne INS/CNSwith simplified UKF based on celestial angle observation difference has been presented which solvesthe problem of nonlinear observation in SINS/CNS integrated navigation system.
Finally, to verify the performance of the SINS/CNS integrated navigation system proposed above,this paper designs a simulation platform for SINS/CNS integrated navigation system with detailedscheme.Focusing on the application of SINS/CNS integrated navigation system for flight, thisdissertation systematicly elaborated the research on both loose and tight integrated SINS/CNS.Theresearch on SINS/CNS integrated navigation system conducted by the author has importantsignificance on the engineering application.
引文
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