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针对飞航导弹惯性导航系统(INS,Inertial Navigation System)单独使用时存在位置和速度估计误差发散的问题,在不需要弹目距离信息的情况下,提出了一种基于对航路上单个已知地标连续、被动观测的INS误差修正方法.根据导弹与地标间的相对运动关系,采用虚拟视线交会的方法,将问题转化为多虚拟地标协同定位导弹问题.在此基础上,利用最小二乘思想,实现了导弹位置的有偏估计.以估计得到的有偏位置信息和基于大气系统得到的INS速度误差大小作为观测量,应用考虑系统误差估计补偿的卡尔曼滤波,实现了导弹位置和速度的无偏估计.仿真结果验证了方法的有效性.
In order to solve the problem that the error of position and velocity estimation diverges when INS (Inertial Navigation System) is used alone, this paper proposes a method based on the analysis of single known landmarks Continuous and passive observation of the INS error correction method.According to the relative movement between the missile and the landmark, using the virtual line of sight intersection method, the problem is converted to multi-virtual landmarks co-location of the missile problem.On this basis, the use of least squares , And the missile’s position is estimated.Based on the estimated biased position information and the error rate of INS velocity based on the atmospheric system, Kalman filter, which takes the systematic error estimation into account, is used to measure the position and velocity of the missile Unbiased estimation.The simulation results verify the effectiveness of the method.