论文部分内容阅读
提出了一种捷联惯性/天文/雷达高度表的弹道导弹组合导航方法。针对传统捷联惯组/星敏感器组合无法从根本上解决惯导速度位置误差发散的问题,引入雷达高度表测量数据,以海拔计算高度与海拔观测高度的差值作为新的量测量,并推导了全微分方程,结合姿态误差角建立4维观测模型,针对弹道中段导航,以捷联惯导误差方程作为系统状态模型,通过EKF滤波进行组合导航解算。仿真结果表明,当捷联惯组精度为惯导级、星敏感器测量精度10″、高度表测量精度50 m时,经过1810 s的飞行,再入点时刻速度误差小于1 m/s、圆概率误差CEP为1200 m,比惯性/天文组合速度位置误差分别减小了76.1%和65.0%。
A SINS / Astron / Radar altimeter ballistic missile integrated navigation method is proposed. In view of the fact that the traditional strapdown inertial sensor / star sensor combination can not fundamentally solve the problem of divergence of the position velocity of inertial navigation speed, the radar altimeter measurement data is introduced to take the difference between altitude calculation height and altitude observation altitude as new measurement. The four-dimensional observational model was established based on the error angle of attitude, and the mid-ballistic navigation was used. The SINS error equation was used as the system state model and the integrated navigation solution was obtained by EKF filtering. The simulation results show that when the accuracy of SINS is inertial navigation class, star sensor measuring accuracy is 10 "and altimeter measuring accuracy is 50 m, the error of speed is less than 1 m / s at 1810 s after reentry point The probability error CEP is 1200 m, which is 76.1% and 65.0% less than the inertial / astronomical combined velocity position error respectively.