宇航学报

宇航学报 ›› 2011, Vol. 32 ›› Issue (5): 1054-1059.doi: 10.3873/j.issn.1000-1328.2011.05.014

• 制导、导航与控制 • 上一篇    下一篇

长航时环境下高精度组合导航方法研究与仿真

杨波, 王跃钢, 单斌, 周小刚   

  1. 第二炮兵工程学院自动控制系，西安 710025
  • 收稿日期:2010-02-01 修回日期:2010-05-01 出版日期:2011-05-15 发布日期:2011-06-14
  • 作者简介:10001328（2011）05105406
  • 基金资助:
    中国博士后科学基金（20090461471）

捷联惯导系统; 星敏感器; 北斗接收机; 组合导航; 自适应滤波

YANG Bo, WANG Yue   

  1. Department of Automation, The Second Artillery Engineering College, Xi’an 710025, China
  • Received:2010-02-01 Revised:2010-05-01 Online:2011-05-15 Published:2011-06-14

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摘要： 研究了一种利用捷联惯导、星敏感器和北斗接收机进行长航时高精度组合导航的方法。对捷联惯导系统误差、星敏感器安装误差、北斗定位误差分别进行建模，将星敏感器输出的载体姿态角、北斗接收机输出的载体位置与捷联惯导输出的对应参数分别相减作为量测，推导获得组合导航量测方程。针对长航时环境下可能面临量测噪声统计特性的不确定问题，采用简化的Sage\|Husa自适应滤波算法进行组合导航滤波设计。仿真结果表明，该组合导航方法的定位精度达到±11.86m，定姿精度达到±0.27′，并且对量测噪声统计特性的突变具有较强的鲁棒性。〖JP〗

关键词: 捷联惯导系统, 星敏感器, 北斗接收机, 组合导航, 自适应滤波

Abstract: A high accuracy integrated navigation method under long\|endurance environment is researched by using strapdown inertial navigation system (SINS), star sensor and Bei Dou receiver in this paper. Errors of SINS, misalignments of star sensor and positioning errors of Bei Dou are modeled. Differences between attitudes output by star sensor and by SINS and differences between positions output by Bei Dou receiver and by SINS are chosen as measurements, and the measurement equation of integrated navigation is constructed. To solve the problem that statistic characteristics of measurement noise is probably uncertain under long\|endurance environment, a simplified Sage\|Husa self\|adaptive filtering algorithm is adopted in the design of integrated navigation filter. Simulation results show that, position accuracy of this integrated navigation method reaches ±11.86m, attitude accuracy reaches ±0.27′.

Key words: Strapdown inertial navigation system, Star sensor, Bei dou receiver, InteGrated navigation, Self-adaptive filter

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