基于强跟踪滤波的单脉冲星/惯性/星光组合导航算法
|
摘要
在惯性/星光组合导航的基础上,将脉冲星的脉冲到达时间差作为新增观测量,设计了单脉冲星/惯性/星光组合导航算法,并通过引入强跟踪滤波,解决了算法中X射线脉冲星导航对位置、速度误差校正效果不明显的问题。介绍了导航算法中使用的带有次优渐消因子的强跟踪滤波器基本原理;设计了组合导航系统的基本方案及状态方程和观测方程;通过数值仿真分析,证明单脉冲星/惯性/星光组合导航可以实现位置、速度误差的有效补偿,而且使用强跟踪滤波的导航效果明显优于使用传统扩展卡尔曼滤波的导航效果。
On the basis of inertial/starlight integrated navigation,the pulse arrival time difference of single pulsar is added as a new observation measurement,and a single pulsar/inertial/starlight integrated navigation algorithm is designed.By introducing a strong tracking filter,the problem that the X-ray pulsar navigation has no obvious effect on position and velocity error correction is solved.The basic principle of Suboptimal Fading Extended Kalman Filter was analyzed.The basic navigation scheme,state equation and observation equations of integrated navigation system were introduced.Through numerical simulation analysis,it is proved that the single pulsar/inertia/starlight integrated navigation can achieve effective compensation of position and velocity errors,and the navigation result using strong tracking filter is obviously better than the navigation effect using traditional extended Kalman filter.
On the basis of inertial/starlight integrated navigation,the pulse arrival time difference of single pulsar is added as a new observation measurement,and a single pulsar/inertial/starlight integrated navigation algorithm is designed.By introducing a strong tracking filter,the problem that the X-ray pulsar navigation has no obvious effect on position and velocity error correction is solved.The basic principle of Suboptimal Fading Extended Kalman Filter was analyzed.The basic navigation scheme,state equation and observation equations of integrated navigation system were introduced.Through numerical simulation analysis,it is proved that the single pulsar/inertia/starlight integrated navigation can achieve effective compensation of position and velocity errors,and the navigation result using strong tracking filter is obviously better than the navigation effect using traditional extended Kalman filter.
引文
[1]康国华,刘建业,熊智,等.弹道导弹的GNSS/SST/SINS组合导航系统研究[J].武汉大学学报(信息科学版),2006,31(2):176-179.
[2]HU Haidong,HUANG Xianlin.SINS/CNS/GPS integrated navigation algorithm based on UKF[J].Journal of Systems Engineering and Electronics,2010,21(1):102-109.
[3]张国良,李呈良,邓方林,等.弹道导弹INS/GNSS/CNS组合导航系统研究[J].导弹与航天运载技术,2004(2):11-15.
[4]杨波,王跃刚,徐洪涛.弹载惯性/卫星/星光高精度组合导航[J].中国惯性技术学报,2010,18(4):444-449.
[5]张明源,王宏力,李康伟,等.INS/CNS/GPS组合导航数据融合算法与仿真研究[J].电光与控制,2008,15(4):42-44.
[6]NOURELDIN A,OSMAN A,EL-SHEIMY N.A neurowavelet method for multi-sensor system integration for vehicular navigation[J].Measurement Science and Technology,2004,15(4):404-412.
[7]王鑫,王新龙.弹道导弹SINS/CNS组合导航系统建模与性能仿真[J].航空兵器,2015(2):21-25.
[8]钱华明,郎希开,钱林琛,等.弹道导弹的捷联惯性/天文组合导航方法[J].北京航空航天大学学报,2017,43(5):857-864.
[9]李连升,梅志武,吕政欣,等.X射线脉冲星导航探测技术发展综述[J].兵器装备工程学报,2017,38(5):1-9.
[10]桂先洲,黎胜亮,李志豪.基于X射线脉冲星绝对定位中的整周模糊度改进算法研究[J].国防科技大学学报,2010,32(3):33-36.
[11]帅平,绍龙,吴一帆,等.X射线脉冲星导航原理[J].宇航学报,2007,28(6):1538-1543.
[12]苏哲,许录平,张华,等.基于XPNAV和SINS的容错组合导航系统研究[J].华中科技大学学报(自然科学版),2011,39(6):19-23.
[13]刘劲,马杰,田金文.利用X射线脉冲星和多普勒频移的组合导航[J].宇航学报,2010,31(6):1552-1557.
[14]孙守明,郑伟,汤建国.X射线脉冲星/SINS组合导航研究[J].空间科学学报,2010,30(6):579-583.
[15]周东华,席裕庚,张钟俊.非线性系统带次优渐消因子的扩展卡尔曼滤波[J].自动化学报,1991,17(6):689-695.
[16]李双喜,张宗梅,张俊.捷联惯性/大视场星光组合导航方法研究[J].航天控制,2011,29(2):7-9.
[17]EMADZADEH A A,SPEYER J L.X-ray pulsar-based relative navigation using epoch folding[J].IEEE Transactions on Automatic Control,2011,47(4):2317-2327.
[18]许强,王宏力,何贻洋,等.基于截断误差的改进脉冲星导航观测方程研究[J/OL].北京航空航天大学学报,(2018-03-26)[2018-09-10].https://doi.org/10.13700/j.bh.1001-5965.2017.0807.
[19]帅平,陈绍龙,吴一凡,等.X射线脉冲星导航技术研究进展[J].空间科学学报,2007,27(2):169-176.
[2]HU Haidong,HUANG Xianlin.SINS/CNS/GPS integrated navigation algorithm based on UKF[J].Journal of Systems Engineering and Electronics,2010,21(1):102-109.
[3]张国良,李呈良,邓方林,等.弹道导弹INS/GNSS/CNS组合导航系统研究[J].导弹与航天运载技术,2004(2):11-15.
[4]杨波,王跃刚,徐洪涛.弹载惯性/卫星/星光高精度组合导航[J].中国惯性技术学报,2010,18(4):444-449.
[5]张明源,王宏力,李康伟,等.INS/CNS/GPS组合导航数据融合算法与仿真研究[J].电光与控制,2008,15(4):42-44.
[6]NOURELDIN A,OSMAN A,EL-SHEIMY N.A neurowavelet method for multi-sensor system integration for vehicular navigation[J].Measurement Science and Technology,2004,15(4):404-412.
[7]王鑫,王新龙.弹道导弹SINS/CNS组合导航系统建模与性能仿真[J].航空兵器,2015(2):21-25.
[8]钱华明,郎希开,钱林琛,等.弹道导弹的捷联惯性/天文组合导航方法[J].北京航空航天大学学报,2017,43(5):857-864.
[9]李连升,梅志武,吕政欣,等.X射线脉冲星导航探测技术发展综述[J].兵器装备工程学报,2017,38(5):1-9.
[10]桂先洲,黎胜亮,李志豪.基于X射线脉冲星绝对定位中的整周模糊度改进算法研究[J].国防科技大学学报,2010,32(3):33-36.
[11]帅平,绍龙,吴一帆,等.X射线脉冲星导航原理[J].宇航学报,2007,28(6):1538-1543.
[12]苏哲,许录平,张华,等.基于XPNAV和SINS的容错组合导航系统研究[J].华中科技大学学报(自然科学版),2011,39(6):19-23.
[13]刘劲,马杰,田金文.利用X射线脉冲星和多普勒频移的组合导航[J].宇航学报,2010,31(6):1552-1557.
[14]孙守明,郑伟,汤建国.X射线脉冲星/SINS组合导航研究[J].空间科学学报,2010,30(6):579-583.
[15]周东华,席裕庚,张钟俊.非线性系统带次优渐消因子的扩展卡尔曼滤波[J].自动化学报,1991,17(6):689-695.
[16]李双喜,张宗梅,张俊.捷联惯性/大视场星光组合导航方法研究[J].航天控制,2011,29(2):7-9.
[17]EMADZADEH A A,SPEYER J L.X-ray pulsar-based relative navigation using epoch folding[J].IEEE Transactions on Automatic Control,2011,47(4):2317-2327.
[18]许强,王宏力,何贻洋,等.基于截断误差的改进脉冲星导航观测方程研究[J/OL].北京航空航天大学学报,(2018-03-26)[2018-09-10].https://doi.org/10.13700/j.bh.1001-5965.2017.0807.
[19]帅平,陈绍龙,吴一凡,等.X射线脉冲星导航技术研究进展[J].空间科学学报,2007,27(2):169-176.