基于运动学约束模型辅助的地面动基座对准研究
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摘要
为了提高飞机快速反应能力,优化初始对准性能,在传统GPS辅助捷联惯导系统进行动基座初始对准架构下,研究一种基于运动学约束模型辅助的地面动基座对准方法。利用GPS测得的速度与捷联惯导系统解算的速度之差作为一组量测信息;建立飞机运动学约束模型,根据地面运动特点,将捷联惯导系统解算的速度沿机体侧向和垂向的投影作为另一组量测信息;选取惯导系统的误差方程作为对准系统的状态方程,采用卡尔曼滤波设计对准算法。仿真结果表明,该方法在不增加传感器的前提下,可以较好地提高对准的快速性、精度及可靠性,对工程应用具有重要的参考价值。
In order to improve the rapid response capability of the aircraft and optimize the initial alignment performance,under the framework of the GPS-assisted initial alignment on moving base of the strapdown inertial navigation system,a method of alignment on ground moving base based on kinematic constraints model is studied. The difference between the velocity measured by the GPS and the velocity calculated by the strapdown inertial navigation system is used as one observation; According to the kinematics constraint model and ground movement characteristics of the aircraft,the projections of INS velocity outputs in the aircraft body's side and vertical directions are chosen as the other observations. The error equation of inertial navigation system is taken as the state equation of the alignment system,and the kalman filter is used to design the alignment algorithm. The simulation results show that the rapidity,accuracy and reliability of alignment can be improved by using this method without increasing the sensor and important reference value can be served for engineering application.
In order to improve the rapid response capability of the aircraft and optimize the initial alignment performance,under the framework of the GPS-assisted initial alignment on moving base of the strapdown inertial navigation system,a method of alignment on ground moving base based on kinematic constraints model is studied. The difference between the velocity measured by the GPS and the velocity calculated by the strapdown inertial navigation system is used as one observation; According to the kinematics constraint model and ground movement characteristics of the aircraft,the projections of INS velocity outputs in the aircraft body's side and vertical directions are chosen as the other observations. The error equation of inertial navigation system is taken as the state equation of the alignment system,and the kalman filter is used to design the alignment algorithm. The simulation results show that the rapidity,accuracy and reliability of alignment can be improved by using this method without increasing the sensor and important reference value can be served for engineering application.
引文
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[10]Dissanayake G,Sukkarieh S,Nebot E,et al.The Aiding of a Low-cost Strapdown Inertial Measurement Unit Using Vehicle Model Constraints for Land Vehicle Applications[J].IEEE Transactions on Robotics and Automation,2001,17(5):731-747.
[11]付强文,秦永元,李四海,等.车辆运动学约束辅助的惯性导航算法[J].中国惯性技术学报,2012,20(6):640-643.(Fu Qiangwen,Qin Yongyuan,Li Sihai,et al.Inertial Navigation Algorithm Aided by Motion Constraints of Vehicle[J].Journal of Chinese Inertial Technology,2012,20(6):640-643.)
[2]赵宾.一种新的强跟踪H∞滤波方法研究及应用[J].航天控制,2011,29(6):60-63.(Zhao Bin.The Research and Application of a New Strong Tracking Filter Method Based on H∞[J].Aerospace Control,2011,29(6):60-63.)
[3]肖密.基于电子地图辅助的车载组合导航系统研究与实现[D].长沙:中南大学,2014.(Xiao Mi.Study and Implementation of Map-Aided Vehicle Integrated Navigation System[D].Changsha:Central South University,2014.)
[4]吴振钿,吴发林,付勇,等.GPS间歇性失效环境下的低成本多传感器组合导航系统研究[J].航空兵器,2015(3):13-17.(Wu Zhendian,Wu Falin,Fu Yong,et al.Research on Low-Cost Multi-Sensor Integrated Navigation System in Intermittent GPS-Denied Environment[J].Aero Weaponry,2015(3):13-17.)
[5]Godha S,Cannon M E.GPS/MEMS INS Integrated System for Navigation in Urban Areas[J].GPS Solution,2007,11:193-203.
[6]Chang H W,Georgy J,El-Sheimy N.A Low Cost Multi-sensors Navigation Solution for Sport Performance Assessment[J].Jama,2012,309(14):1483-1492.
[7]张小跃,刘鹏博,易晓静,等.惯导/北斗/里程计一体化紧组合导航方法研究[J].导航与控制,2015,14(5):23-30.(Zhang Xiaoyue,Liu Pengbo,Yi Xiaojing,et al.Research of Tightly Coupled INS/Bei Dou/Odometer Integration Methodology[J].Navigation and Control,2015,14(5):23-30.)
[8]王美玲,冯国强,李亚峰,等.一种车辆模型辅助的MEMS-SINS导航方法[J].中国惯性技术学报,2017,25(2):209-215.(Wang Meiling,Feng Guoqiang,Li Yafeng,et al.MEMS-SINS Navigation Method Aided by Vehicle Model[J].Journal of Chinese Inertial Technology,2017,25(2):209-215.)
[9]Kai Chen,Gang Zhao,Zhongjie Meng,Jie Yan,Hao Lu.Equivalent Approaches to Equations of Traditional Transfer Alignment and Rapid Transfer Alignment[C].Intelligent Control and Automation,2008.WCICA:IEEE,2008:892-895.
[10]Dissanayake G,Sukkarieh S,Nebot E,et al.The Aiding of a Low-cost Strapdown Inertial Measurement Unit Using Vehicle Model Constraints for Land Vehicle Applications[J].IEEE Transactions on Robotics and Automation,2001,17(5):731-747.
[11]付强文,秦永元,李四海,等.车辆运动学约束辅助的惯性导航算法[J].中国惯性技术学报,2012,20(6):640-643.(Fu Qiangwen,Qin Yongyuan,Li Sihai,et al.Inertial Navigation Algorithm Aided by Motion Constraints of Vehicle[J].Journal of Chinese Inertial Technology,2012,20(6):640-643.)
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