SINS/SAR/GPS组合导航方法研究
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摘要
在现代战争中,精确制导武器承担着越来越重要的角色,对战争进程起着至关重要的作用。由于要实现精确制导、精确打击,首先必须具备精确的导引信息,进而使组合导航成为高精度导航发展的主流方向。
论文建立了发射惯性坐标系中的SINS导航解算模型,推导了该坐标系中的SINS误差传播方程。在此基础上建立了SINS/SAR和SINS/GPS两个子系统的观测方程。
分析了SAR、GPS、SINS导航系统的基本原理及特点,且对三者的导航误差特性进行了分析。
设计了适用于SINS/SAR/GPS组合导航系统的联邦滤波器,以弹道导弹高精度、高可靠性先进组合制导技术研究为背景,设计了弹道导弹再入段轨迹发生器,根据再入段特点对SINS/SAR、SINS/GPS及SINS/SAR/GPS组合导航进行了相关数学仿真、对两个子系统的滤波输出结果进行了信息融合,并对仿真结果进行了比较、分析。结果表明,基于联邦滤波器的SINS/SAR/GPS组合导航系统可以有效地提高系统导航精度,同时可增强系统的可靠性及容错性。
During modern war, accurate homing weapons have become very important for accelerating the modern war finished early, and take on more and more important roles. In order to guide and attack accurately, firstly we have to possess precise homing information. Now, combination navigation technology has become main flow direction for getting accurate navigation information.
In this paper, the mathematics model of SINS in the Launch Inertial Coordinate System is established, and the error propagation function of SINS and measurement functions of SINS/SAR and SINS/GPS are modeled.
The elemental principles and characteristics of SINS, SAR and GPS navigation system are analyzed in the paper.
A sort of federal filter for SINS/SAR/GPS navigation system is designed, according to the advanced integrated guidance technology of high accuracy and high reliability for the ballistic missile, and against the reentry stage trajectory characteristic of the ballistic missile, the reentry ballistic curve for the ballistic missile is designed. and the mathematic simulations based on the federal filter between SINS/SAR、SINS/GPS and SINS/SAR/GPS have be finished. The mathematics simulations results demonstrates that the integrated navigation system's accuracy as well as reliability and fault-tolerant are increased by the mode of integrated SINS/SAR/GPS navigation system based on the federal filter.
论文建立了发射惯性坐标系中的SINS导航解算模型,推导了该坐标系中的SINS误差传播方程。在此基础上建立了SINS/SAR和SINS/GPS两个子系统的观测方程。
分析了SAR、GPS、SINS导航系统的基本原理及特点,且对三者的导航误差特性进行了分析。
设计了适用于SINS/SAR/GPS组合导航系统的联邦滤波器,以弹道导弹高精度、高可靠性先进组合制导技术研究为背景,设计了弹道导弹再入段轨迹发生器,根据再入段特点对SINS/SAR、SINS/GPS及SINS/SAR/GPS组合导航进行了相关数学仿真、对两个子系统的滤波输出结果进行了信息融合,并对仿真结果进行了比较、分析。结果表明,基于联邦滤波器的SINS/SAR/GPS组合导航系统可以有效地提高系统导航精度,同时可增强系统的可靠性及容错性。
During modern war, accurate homing weapons have become very important for accelerating the modern war finished early, and take on more and more important roles. In order to guide and attack accurately, firstly we have to possess precise homing information. Now, combination navigation technology has become main flow direction for getting accurate navigation information.
In this paper, the mathematics model of SINS in the Launch Inertial Coordinate System is established, and the error propagation function of SINS and measurement functions of SINS/SAR and SINS/GPS are modeled.
The elemental principles and characteristics of SINS, SAR and GPS navigation system are analyzed in the paper.
A sort of federal filter for SINS/SAR/GPS navigation system is designed, according to the advanced integrated guidance technology of high accuracy and high reliability for the ballistic missile, and against the reentry stage trajectory characteristic of the ballistic missile, the reentry ballistic curve for the ballistic missile is designed. and the mathematic simulations based on the federal filter between SINS/SAR、SINS/GPS and SINS/SAR/GPS have be finished. The mathematics simulations results demonstrates that the integrated navigation system's accuracy as well as reliability and fault-tolerant are increased by the mode of integrated SINS/SAR/GPS navigation system based on the federal filter.
引文
1刘隆和.多模复合寻的制导技术.国防工业出版社.1998:1-15.
2刘桐林等.世界导弹大全.军事科学出版社.2001:81-92.
3秦之瑾,张宗美.俄罗斯的白杨-M洲际弹道导弹.导弹与航天运载技术.2001:55-61.
4黄世奇,禹来春等.成像精确制导技术分析与研究.2005,5:20-25.
5高社生,李华星.INS/SAR组合导航定位技术与应用.西北工业大学出版社.2004:43-116.
6于秋则.合成孔径雷达图像匹配制导技术研究.华中科技大学博士论文.2004:1-30.
7高烽.合成孔径雷达导引头技术.制导与引信.2004,1(25):1-4.
8陈哲.捷联惯导系统原理.宇航出版社.1986:1-106,143-153.
9董绪荣,张守信.GPS/INS组合导航系统.国防科技大学出版社.1998:22-28,89-112.
10袁建平,方群,郑谔.GPS在飞行器定位导航中的应用.西北工业大学出版社.2000:100-225.
11杨莉.捷联惯性导航系统/合成孔径雷达双向信息融合技术研究.南京航空航天大学博士论文.2000:9-20.
12邓正隆等.惯性导航原理.哈尔滨工业大学出版社.2006:1-13.
13邓湘金,王磊等.合成孔径雷达发展历史及趋势.华北工学院测试技术学报.2000,14(2):80-86.
14邹维宝INS/SAR组合导航系统及其智能化信息融合技术的研究.西北工业大学博士论文.2000:1-20.
15刘永坦.雷达成像技术.哈尔滨工业大学.1999:1-36.
16杨士中.合成孔径雷达.国防工业出版社.1981:1-24,227-237.
17黄世奇,刘代志,陈亮.基于合成孔径雷达成像的景象与地形匹配制导研究.战术导弹控制技术.2006,2(53):46-49.
18 John R.Coffee.An Integrated DGPS/INS Navigation System for a Ballistic Missile. Design and Flight Test Result. Journal of The Institute of Navigation. 1996(3):273-293.
19 R.Guarino,Paul Ibsen. Integrated GPS/INS/SAR/GMTI Radar PrecisionTargeting. Flight Test Result. Proceedings of ION95:373-379.
20熊智,刘建业,林雪原.高度计辅助的INS/SAR组合导航系统研究.中国空间科学技术.2003(4):62-66.
21张君昌,侯义斌,邹维宝,高社生.战术弹道导弹SINS/GNSS/SAR组合制导方法研究.弹箭与制导学报.2001,4:38-41.
22燕英,周荫清,李春升,许丽香.弹载合成孔径雷达成像处理及定位误差分析.电子与信息学报,2002,24(12):1932-1938.
23袁孝康.星载合成孔径雷达.国防工业出版社.2003:1-30,
24 Elachi C,Bicknell T,Jordan R L,Wu C.Spaceborne synthetic aperture imagine rardars:Application ,Techniques, and Technology. Proceedings of IEEE. 1982, 70(1):1174-1209.
25 Irk J C,Jr.Digital synthetic aperture radar technology. IEEE Internation-al Rard Conference Record.1975.482-487.
26 James E. Bevington and Charles A. Marttila,Precision Aided Inertial Navigation Using SAR and Digital Map Data.IEEE PLANS .1990:490-496.
27陈宇新,安东,任思聪.地形辅助的INS/SAR组合导航系统.西北工业大学学报.1997,15(4):598-602.
28柴静等.基于SAR的组合导航系统仿真研究.系统仿真学报. 2005,17(5):1252-1254.
29雄智,冷雪飞,刘建业.基于北斗双星定位辅助的SAR/INS组合导航系统研究.2007,28(1):88-93.
30王惠楠.GPS导航原理及应用.东南大学出版社.2005:1-10,91-121.
31机载SAR用的GPS/SINS组合导航系统研究.中国惯性技术学报.2002,10(4):19-23.
32 Gao Shesheng, Yang Bo, Zhang Zhen long. The Study of Information Fusion Algorithm in INS/SAR/GPS Integrated System. Conference of 7Th Joint Conference on Information Science. North Carolina USA,1:547-550.
33郭圣权,温武.INS/GPS组合导航联邦滤波器的仿真研究.华北工学院学报.2004,25(4):258-261.
34张毅,肖龙旭,王顺宏.弹道导弹弹道学.国防科技大学出版社.2005:243-255.
35 Jam Ali and Fang Jiang cheng. SINS/ANS/GPS Integration Using Federated Filter Based on Optimized Information-Sharing Coefficients.AIAA.2005:1-12.
36黄世奇,郑健,白宪阵,左广霞.合成孔径雷达末制导技术研究.战术导弹控制技术.2005,1(48):65-67.
37孙德波,段辉翔.惯性/图像组合导航中的双模态双滤波器研究.宇航学报.2002,23(5):5-9.
38 James E. Bevington and Charles A. Marttila,Precision Aided Inertial Navigation Using SAR and Digital Map Data.IEEE PLANS .1990:490-496.
39刘承香,孙枫,曹洁.SINS/GPS/DVL组合导航系统的容错研究.中国惯性技术学报.2003,11(6):11-16.
40 C.L.Glenie,K.P.Schwarz,A.M.Bruton,J.K.Tennant.A Combined DGPS/INS and Synthetic Aperture Radar System For Geoids Referenced Elevation Models And Ortho-Rectified Image Maps. ION GPS.1998:1159-1164.
41 Upadhyay TN,Cotterill S,Deaton A W Autonomous GPS/SINS Navigation Experiment for Space Transfer Vehicle. IEEE Trans.on AES,1993,29(3): 772-775.
42 He X F,Chen Y Q,Iz H B.An Improved Filter for High Order Integrated GPS/INS Based on the U-D Factorization.KIS97:257-263.
43 Kalman,R.E.A New Approach to Linear Filter and Prediction Problems. Transaction of the ASME-Journal of Basic Engineering.1960:35-45.
44秦永元,张洪钺.卡尔曼滤波与组合导航原理.西北工业大学出版社. 1998:191-204.
45付梦印,邓志红,张继伟.Kaman滤波理论及其在导航系统中的应用.科学出版社.2003:152-169.
46彭霞,张彦军,崔平远.联邦卡尔曼滤波与集中式卡尔曼滤波的等价性.青岛科技大学学报.2005,26(2):169-172.
47 Greg Welch and Gary Bishop. An Introduction to the Kaman Filter. UNC–Chapel TR95-041.2004:1-16.
48 Carlson N A. Federated Filter for fault-tolerant integrated navigation system. IEEE.PLANS,Position Location and Navigation Symposium,Orland,Fla, 1988:110-119.
49李正强,王宏力,杨益强,刘春卓,陈琪.信息融合技术在组合导航系统中的应用.飞行力学.2006,24(1):89-92.
50 Carlson N A,Berarducci M P.Federated Kaman filter simulation resultsNavigation.1994,41(3):297-321
51张景伟.INS/GPS/SAR组合导航系统关键问题研究.西北工业大学博士论文. 2003:12-21,70-100.
52袁冬莉,习庆彪等.联邦卡尔曼滤波器在无人机导航系统中的应用.西北工业大学学报.2002,20(2):310-313.
53刘瑞华,刘建业.联邦滤波信息分配新方法.中国惯性技术学报.2001,9 (2):28-32.
54顾启泰,王颂.联邦滤波信息分配系数的优选算法.中国惯性技术学报.200311(6):1-6.
55 Si We fang, Chen Zhen. Integrated INS/GPS/GLONASS Navigation System Based On Three Types Of Kaman Filtering Algorithms. Proceedings of the Sec International Symposium on Instrumentation Science and Technology Jinan, 2002, 3:403-407.
56 Mu Rong jun, Cui Naigang. A fault tolerant filter applied on magnetometer-based autonomous satellite navigation. International 1st Symposium on Systems and Control in Aerospace and Astronautics.2006:597-600.
57 Mu Rongjun, Cui,Naigang. Federated filter with strengthened FDIR capabilityfor multiple sensor navigation system. International 1st Symposium on Systems and Control in Aerospace and Astronautics 2006:601-604.
58 Mu Rongjun, Cui,Naigang.Practical multi-fading two-stage fault-tolerant federated filter for multi-sensor information fusion. Proceedings of the World Congress on Intelligent Control and Automation (WCICA).2006: 5600-5604.
2刘桐林等.世界导弹大全.军事科学出版社.2001:81-92.
3秦之瑾,张宗美.俄罗斯的白杨-M洲际弹道导弹.导弹与航天运载技术.2001:55-61.
4黄世奇,禹来春等.成像精确制导技术分析与研究.2005,5:20-25.
5高社生,李华星.INS/SAR组合导航定位技术与应用.西北工业大学出版社.2004:43-116.
6于秋则.合成孔径雷达图像匹配制导技术研究.华中科技大学博士论文.2004:1-30.
7高烽.合成孔径雷达导引头技术.制导与引信.2004,1(25):1-4.
8陈哲.捷联惯导系统原理.宇航出版社.1986:1-106,143-153.
9董绪荣,张守信.GPS/INS组合导航系统.国防科技大学出版社.1998:22-28,89-112.
10袁建平,方群,郑谔.GPS在飞行器定位导航中的应用.西北工业大学出版社.2000:100-225.
11杨莉.捷联惯性导航系统/合成孔径雷达双向信息融合技术研究.南京航空航天大学博士论文.2000:9-20.
12邓正隆等.惯性导航原理.哈尔滨工业大学出版社.2006:1-13.
13邓湘金,王磊等.合成孔径雷达发展历史及趋势.华北工学院测试技术学报.2000,14(2):80-86.
14邹维宝INS/SAR组合导航系统及其智能化信息融合技术的研究.西北工业大学博士论文.2000:1-20.
15刘永坦.雷达成像技术.哈尔滨工业大学.1999:1-36.
16杨士中.合成孔径雷达.国防工业出版社.1981:1-24,227-237.
17黄世奇,刘代志,陈亮.基于合成孔径雷达成像的景象与地形匹配制导研究.战术导弹控制技术.2006,2(53):46-49.
18 John R.Coffee.An Integrated DGPS/INS Navigation System for a Ballistic Missile. Design and Flight Test Result. Journal of The Institute of Navigation. 1996(3):273-293.
19 R.Guarino,Paul Ibsen. Integrated GPS/INS/SAR/GMTI Radar PrecisionTargeting. Flight Test Result. Proceedings of ION95:373-379.
20熊智,刘建业,林雪原.高度计辅助的INS/SAR组合导航系统研究.中国空间科学技术.2003(4):62-66.
21张君昌,侯义斌,邹维宝,高社生.战术弹道导弹SINS/GNSS/SAR组合制导方法研究.弹箭与制导学报.2001,4:38-41.
22燕英,周荫清,李春升,许丽香.弹载合成孔径雷达成像处理及定位误差分析.电子与信息学报,2002,24(12):1932-1938.
23袁孝康.星载合成孔径雷达.国防工业出版社.2003:1-30,
24 Elachi C,Bicknell T,Jordan R L,Wu C.Spaceborne synthetic aperture imagine rardars:Application ,Techniques, and Technology. Proceedings of IEEE. 1982, 70(1):1174-1209.
25 Irk J C,Jr.Digital synthetic aperture radar technology. IEEE Internation-al Rard Conference Record.1975.482-487.
26 James E. Bevington and Charles A. Marttila,Precision Aided Inertial Navigation Using SAR and Digital Map Data.IEEE PLANS .1990:490-496.
27陈宇新,安东,任思聪.地形辅助的INS/SAR组合导航系统.西北工业大学学报.1997,15(4):598-602.
28柴静等.基于SAR的组合导航系统仿真研究.系统仿真学报. 2005,17(5):1252-1254.
29雄智,冷雪飞,刘建业.基于北斗双星定位辅助的SAR/INS组合导航系统研究.2007,28(1):88-93.
30王惠楠.GPS导航原理及应用.东南大学出版社.2005:1-10,91-121.
31机载SAR用的GPS/SINS组合导航系统研究.中国惯性技术学报.2002,10(4):19-23.
32 Gao Shesheng, Yang Bo, Zhang Zhen long. The Study of Information Fusion Algorithm in INS/SAR/GPS Integrated System. Conference of 7Th Joint Conference on Information Science. North Carolina USA,1:547-550.
33郭圣权,温武.INS/GPS组合导航联邦滤波器的仿真研究.华北工学院学报.2004,25(4):258-261.
34张毅,肖龙旭,王顺宏.弹道导弹弹道学.国防科技大学出版社.2005:243-255.
35 Jam Ali and Fang Jiang cheng. SINS/ANS/GPS Integration Using Federated Filter Based on Optimized Information-Sharing Coefficients.AIAA.2005:1-12.
36黄世奇,郑健,白宪阵,左广霞.合成孔径雷达末制导技术研究.战术导弹控制技术.2005,1(48):65-67.
37孙德波,段辉翔.惯性/图像组合导航中的双模态双滤波器研究.宇航学报.2002,23(5):5-9.
38 James E. Bevington and Charles A. Marttila,Precision Aided Inertial Navigation Using SAR and Digital Map Data.IEEE PLANS .1990:490-496.
39刘承香,孙枫,曹洁.SINS/GPS/DVL组合导航系统的容错研究.中国惯性技术学报.2003,11(6):11-16.
40 C.L.Glenie,K.P.Schwarz,A.M.Bruton,J.K.Tennant.A Combined DGPS/INS and Synthetic Aperture Radar System For Geoids Referenced Elevation Models And Ortho-Rectified Image Maps. ION GPS.1998:1159-1164.
41 Upadhyay TN,Cotterill S,Deaton A W Autonomous GPS/SINS Navigation Experiment for Space Transfer Vehicle. IEEE Trans.on AES,1993,29(3): 772-775.
42 He X F,Chen Y Q,Iz H B.An Improved Filter for High Order Integrated GPS/INS Based on the U-D Factorization.KIS97:257-263.
43 Kalman,R.E.A New Approach to Linear Filter and Prediction Problems. Transaction of the ASME-Journal of Basic Engineering.1960:35-45.
44秦永元,张洪钺.卡尔曼滤波与组合导航原理.西北工业大学出版社. 1998:191-204.
45付梦印,邓志红,张继伟.Kaman滤波理论及其在导航系统中的应用.科学出版社.2003:152-169.
46彭霞,张彦军,崔平远.联邦卡尔曼滤波与集中式卡尔曼滤波的等价性.青岛科技大学学报.2005,26(2):169-172.
47 Greg Welch and Gary Bishop. An Introduction to the Kaman Filter. UNC–Chapel TR95-041.2004:1-16.
48 Carlson N A. Federated Filter for fault-tolerant integrated navigation system. IEEE.PLANS,Position Location and Navigation Symposium,Orland,Fla, 1988:110-119.
49李正强,王宏力,杨益强,刘春卓,陈琪.信息融合技术在组合导航系统中的应用.飞行力学.2006,24(1):89-92.
50 Carlson N A,Berarducci M P.Federated Kaman filter simulation resultsNavigation.1994,41(3):297-321
51张景伟.INS/GPS/SAR组合导航系统关键问题研究.西北工业大学博士论文. 2003:12-21,70-100.
52袁冬莉,习庆彪等.联邦卡尔曼滤波器在无人机导航系统中的应用.西北工业大学学报.2002,20(2):310-313.
53刘瑞华,刘建业.联邦滤波信息分配新方法.中国惯性技术学报.2001,9 (2):28-32.
54顾启泰,王颂.联邦滤波信息分配系数的优选算法.中国惯性技术学报.200311(6):1-6.
55 Si We fang, Chen Zhen. Integrated INS/GPS/GLONASS Navigation System Based On Three Types Of Kaman Filtering Algorithms. Proceedings of the Sec International Symposium on Instrumentation Science and Technology Jinan, 2002, 3:403-407.
56 Mu Rong jun, Cui Naigang. A fault tolerant filter applied on magnetometer-based autonomous satellite navigation. International 1st Symposium on Systems and Control in Aerospace and Astronautics.2006:597-600.
57 Mu Rongjun, Cui,Naigang. Federated filter with strengthened FDIR capabilityfor multiple sensor navigation system. International 1st Symposium on Systems and Control in Aerospace and Astronautics 2006:601-604.
58 Mu Rongjun, Cui,Naigang.Practical multi-fading two-stage fault-tolerant federated filter for multi-sensor information fusion. Proceedings of the World Congress on Intelligent Control and Automation (WCICA).2006: 5600-5604.