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在机群协同编队飞行中,编队成员仅装载惯性导航系统(INS)的方式具有隐蔽、抗干扰等明显的优势,但随着航时的增加,INS误差将不断累积,使导航系统失效,为此,提出基于相对导航的多平台INS误差联合修正方法。首先,建立了编队成员相对导航运动模型及非线性观测模型,采用量测重构技术构造了伪线性观测模型并推导了观测噪声协方差矩阵;其次,基于相对导航结果提出了一种多平台INS误差联合修正方法,从理论上证明了协同编队各成员INS误差联合修正所能达到的理想性能,并给出了INS误差联合修正策略。仿真结果表明:所提出的相对导航估计算法在精度基本不变的情况下,收敛速度较扩展卡尔曼滤波(EKF)大幅提高;所提出的基于相对导航的多平台INS误差联合修正方法有效地减缓了编队系统的INS误差发散速度。
For fleet coordinated formation flight, formation members loaded with inertial navigation system (INS) only have the obvious advantages of concealment, anti-jamming and other obvious advantages. However, as the flight time increases, the INS error will accumulate continuously, which will invalidate the navigation system. , A multi-platform INS error correction method based on relative navigation is proposed. Firstly, the relative navigation kinematics model and nonlinear observational model of the formations members were established. The pseudo-linear observational model was constructed and the observed noise covariance matrix was constructed by measuring and reconstructing techniques. Secondly, based on the relative navigation results, a multi-platform INS The method of joint correction of error shows that the joint performance of all members of cooperative formation can achieve the ideal performance theoretically and the correction strategy of INS error is given. The simulation results show that the proposed relative navigation estimation algorithm improves the convergence rate significantly compared with Extended Kalman Filter (EKF) under the condition that the accuracy is almost the same. The proposed joint correction method based on relative navigation can effectively reduce the error of multiple INS errors The formation of the INS system error divergence speed.