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研究了一种在高空长航环境下进行高精度组合导航的方法。将捷联惯导系统(SINS)和天文导航系统(CNS)的误差作为组合导航系统状态,根据系统误差模型建立状态方程。将SINS与合成孔径雷达(SAR)各自输出的水平位置信息对应相减作为量测之一,将SINS与CNS各自输出的姿态信息对应相减作为量测之二,并引入气压高度计,将SINS与气压高度计各自输出的高度信息相减作为量测之三,根据量测建立对应的量测方程。采用卡尔曼滤波设计组合导航滤波算法。仿真结果表明,SINS/SAR/CNS组合导航的位置精度达到±10.1m,姿态精度达到±0.11’,对于高空长航的飞行环境具有很强适用性。
A method of high-precision integrated navigation under high-altitude long-haul environment is studied. The error of SINS and CNS is taken as the state of integrated navigation system, and the state equation is established according to the system error model. Subtracting the horizontal position information output by each of SINS and synthetic aperture radar (SAR) as one of the measurements, taking the attitude information output by each of the SINS and the CNS as the second measurement and introducing the barometric altimeter, The altimeters output their height information subtraction as the measurement of three, according to the measurement to establish the corresponding measurement equation. Using Kalman filter design combined navigation and filtering algorithm. The simulation results show that the SINS / SAR / CNS integrated navigation has a positional accuracy of ± 10.1m and a attitude accuracy of ± 0.11 ’, which is of great applicability to the flight environment of high-altitude long-haul aircraft.