高超巡航飞行器组合导航系统研究与算法验证
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摘要
高超音速巡航飞行器(Hypersonic Cruise Vehicle,简称HSCV或HCV)是21世纪航空航天技术领域的战略制高点。高超音速巡航飞行器具有速度快、突防能力强等特点,成为当今世界军事强国关注的重要战略发展方向。而HCV的“眼睛”——导航系统,是HCV发挥其威力的关键所在。本文针对高超音速巡航飞行器组合导航方案,模型和算法进行了研究。通过实验,验证了算法的可靠性和精度等要求。
分析各国的高超音速飞行器的研究状况。首先以美国X-43A高超音速飞行器第二次试验飞行的弹道为主要参考,对飞行任务进行了规划,模拟高超音速巡航飞行器的飞行状态,并得到后续仿真所需要的主要参数。其次,通过分析比较HCV备选导航系统的特点,提出拟采用的组合导航方案。发射段采用捷联惯导系统;巡航段依靠全球卫星导航系统提供速度位置信息与天文导航系统提供姿态信息辅助捷联惯导系统的组合导航方案;末制导采用导引设备辅助捷联惯导组合导航方案。再次介绍了捷联惯导系统的工作原理及算法,并针对设计的飞行状态(特别是巡航段),对HCV仅采用捷联惯导的形式作了数学仿真,结果表明单一的捷联惯导无法满足系统要求,需要采用其他的导航系统辅助。对捷联惯导系统的元器件误差,星敏感器误差,GNSS接收机误差分别进行了分析和建模。
论文以卡尔曼滤波为基础,分析比较了UKF与EKF的优缺点,设计了基于UKF的联邦滤波导航算法,提出了基于UKF的联邦滤波器设计,并针对HCV巡航段对这种滤波方法进行仿真验证,这是本文的研究重点。仿真结果表明,UKF滤波后精度较高,稳定性较好。依托地面实验系统,完成静态实验,以验证本论文对惯性组件的误差分析;设计车载实验,包括路径规划,方案设计等,并对实验结果进行分析。实验结果表明UKF滤波算法在实际组合导航系统中可行,且精度较高。最后对组合导航系统的故障诊断与容错技术做了初步探讨和研究。
Hypersonic Cruise Vehicle (HCV) will be and has already been the focus in aeronautic and aerospace field in 21st Century. The characters of high velocity and ability in shock action make it to be the strategic development consideration of military countries around the world. The navigation system is the eye of HCV, and it concerns the attack power. In this paper, the scheme, model and algorithm of navigation for hypersonic cruise vehicles have been studied. And the experiment, in order to check the Unscented Kalman filter, is also studied in this paper. The main contents are as follows:
First, a brief introduction about the research on Hypersonic Cruise Vehicle around the world was given. In order to get the primary parameters during the flight, a simple flight trajectory was designed and Flight 2 trajectory of X-43 was taken as a reference. Comparing the characteristics of navigation systems, the integrated navigation system for hypersonic cruise craft was presented, The strap down inertial navigation system (SINS) was adopted in launch stage. According to velocity and position information of Global Navigation System of Satellite (GNSS) and error angles of platform of Celestial Navigation System (CNS), the SINS was adopted in cruise, the angle of sight offered by seeker aids the SINS in terminal stage. The principle and algorithm of SINS was studied, and the simulation of SINS performance in the HCV showed that only one navigation sensor can’t serve. Other systems were needed to aid the SINS. The dissertation included the principle of determining position and attitude for CNS. The error-state of SINS, inertial sensor, Star sensor, receiver of GNSS, have been analyzed and modeled.
This dissertation mainly researched on the Kalman filter. A federated filtering navigation algorithm based on Unscented Kalman filter (UKF) was developed. The advantages and the disadvantages of UKF and EKF were analyzed. Then the simulation on HCV navigation system using the federated filter based on UKF was carried on, which was an innovation of this dissertation. The simulation result showed that the accuracy using the federated filter based on UKF was satisfied. In the laboratory, the static experiments were carried on to check the error analysis and the error model of SINS. The dynamic experiments, include the track, the scheme, were designed, and the result were analyzed. The experiment results showed that the accuracy of UKF was a little better than the EKF. And a primary research of fault detection and fault tolerant of integrated navigation system on HCV was also carried on, in order to improve the reliability of integrated navigation system of HCV.
分析各国的高超音速飞行器的研究状况。首先以美国X-43A高超音速飞行器第二次试验飞行的弹道为主要参考,对飞行任务进行了规划,模拟高超音速巡航飞行器的飞行状态,并得到后续仿真所需要的主要参数。其次,通过分析比较HCV备选导航系统的特点,提出拟采用的组合导航方案。发射段采用捷联惯导系统;巡航段依靠全球卫星导航系统提供速度位置信息与天文导航系统提供姿态信息辅助捷联惯导系统的组合导航方案;末制导采用导引设备辅助捷联惯导组合导航方案。再次介绍了捷联惯导系统的工作原理及算法,并针对设计的飞行状态(特别是巡航段),对HCV仅采用捷联惯导的形式作了数学仿真,结果表明单一的捷联惯导无法满足系统要求,需要采用其他的导航系统辅助。对捷联惯导系统的元器件误差,星敏感器误差,GNSS接收机误差分别进行了分析和建模。
论文以卡尔曼滤波为基础,分析比较了UKF与EKF的优缺点,设计了基于UKF的联邦滤波导航算法,提出了基于UKF的联邦滤波器设计,并针对HCV巡航段对这种滤波方法进行仿真验证,这是本文的研究重点。仿真结果表明,UKF滤波后精度较高,稳定性较好。依托地面实验系统,完成静态实验,以验证本论文对惯性组件的误差分析;设计车载实验,包括路径规划,方案设计等,并对实验结果进行分析。实验结果表明UKF滤波算法在实际组合导航系统中可行,且精度较高。最后对组合导航系统的故障诊断与容错技术做了初步探讨和研究。
Hypersonic Cruise Vehicle (HCV) will be and has already been the focus in aeronautic and aerospace field in 21st Century. The characters of high velocity and ability in shock action make it to be the strategic development consideration of military countries around the world. The navigation system is the eye of HCV, and it concerns the attack power. In this paper, the scheme, model and algorithm of navigation for hypersonic cruise vehicles have been studied. And the experiment, in order to check the Unscented Kalman filter, is also studied in this paper. The main contents are as follows:
First, a brief introduction about the research on Hypersonic Cruise Vehicle around the world was given. In order to get the primary parameters during the flight, a simple flight trajectory was designed and Flight 2 trajectory of X-43 was taken as a reference. Comparing the characteristics of navigation systems, the integrated navigation system for hypersonic cruise craft was presented, The strap down inertial navigation system (SINS) was adopted in launch stage. According to velocity and position information of Global Navigation System of Satellite (GNSS) and error angles of platform of Celestial Navigation System (CNS), the SINS was adopted in cruise, the angle of sight offered by seeker aids the SINS in terminal stage. The principle and algorithm of SINS was studied, and the simulation of SINS performance in the HCV showed that only one navigation sensor can’t serve. Other systems were needed to aid the SINS. The dissertation included the principle of determining position and attitude for CNS. The error-state of SINS, inertial sensor, Star sensor, receiver of GNSS, have been analyzed and modeled.
This dissertation mainly researched on the Kalman filter. A federated filtering navigation algorithm based on Unscented Kalman filter (UKF) was developed. The advantages and the disadvantages of UKF and EKF were analyzed. Then the simulation on HCV navigation system using the federated filter based on UKF was carried on, which was an innovation of this dissertation. The simulation result showed that the accuracy using the federated filter based on UKF was satisfied. In the laboratory, the static experiments were carried on to check the error analysis and the error model of SINS. The dynamic experiments, include the track, the scheme, were designed, and the result were analyzed. The experiment results showed that the accuracy of UKF was a little better than the EKF. And a primary research of fault detection and fault tolerant of integrated navigation system on HCV was also carried on, in order to improve the reliability of integrated navigation system of HCV.
引文
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