捷联惯导/天文导航/合成孔径雷达组合导航系统

设计了适用于巡航导弹的捷联惯性/天文导航/合成孔径雷达(SINS/CNS/SAR)组合导航系统,针对巡航导弹对导航系统高精度和自主性的要求以及其匀速、等高状态飞行的特性,突出工程实用性,对SINS/CNS/SAR组合导航采用非线性建模,非线性的无迹卡尔曼滤波(UKF)方法进行各子滤波器的滤波,非线性的模型和滤波方法更符合实际,因而提高了系统精度,而子滤波器之间的信息融合过程选择基于信息分配因子实时调整的联邦滤波器,大大增强了系统的容错性和实时性。提出了一种新的可观测度计算方法,简化了可观测度的计算。数字和半实物仿真实验表明组合导航系统对于巡航导弹高空长航的飞行环境具有很强适用性,该组合导航系统不但适用于巡航导弹,也适用于无人机等其他一些长航时飞行器,具有重大的工程应用价值。

SINS/CNS/SAR integrated navigation system

A SINS/CNS/SAR integrated navigation system suitable for cruise missile is designed in this paper. Aiming at the requirements of high precision and autonomy of the navigation system and the characteristics of uniform speed and constant height flight of cruise missile, the engineering practicability of the project is highlighted. The nonlinear modeling is adopted for the SINS/CNS/SAR integrated navigation and the nonlinear UKF method is used to perform the filtering of the sub filters. The nonlinear model and filter method are more practical, so the system accuracy is improved. In the information fusion process among the sub filters, the federal filter based on the information allocation factor is selected to adjust the system in real time, which greatly enhances the fault tolerance and real time performance of the system. A new method for computing observability is proposed and the observability computation is simplified. The digital and hardware in the loop simulation experiments show that the integrated navigation system is very suitable for the high altitude long endurance flight environment of cruise missiles. The integrated navigation system is not only suitable for cruise missiles, but also has great engineering value for some other long endurance aircrafts, such as UAVs, and has great engineering application value.