Information fusion method for airborne inertia/Doppler radar integrated navigation system

A technology of integrated navigation system and Doppler radar, applied in the direction of radio wave measurement system, utilization of re-radiation, reflection/re-radiation of radio waves, etc.

Inactive Publication Date: 2012-07-25
BEIHANG UNIV
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This combined navigation approach is accomplished in the following steps:

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  • Information fusion method for airborne inertia/Doppler radar integrated navigation system
  • Information fusion method for airborne inertia/Doppler radar integrated navigation system
  • Information fusion method for airborne inertia/Doppler radar integrated navigation system

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Embodiment Construction

[0145] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0146] See figure 1 , figure 2 , image 3 and Figure 4 , the present invention is a kind of information fusion method that is used for airborne inertial / Doppler radar integrated navigation system, and the specific steps of this method are as follows:

[0147] Step 1: Establish error models of inertial devices and Doppler radar;

[0148] The inertial / Doppler radar combination system is composed of accelerometer, gyroscope, Doppler radar and other devices. Each device has device errors and installation errors, and these errors will cause integrated navigation errors. Therefore, the establishment of its error model has laid a foundation for the selection of kalman state quantities in the second step and the establishment of the state equation in the third step.

[0149] a. Accelerometer error equation

[0150]

[0151] The error model of acceleromete...

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Abstract

The invention discloses an information fusion method for an airborne inertia/Doppler radar integrated navigation system. The method comprises the following six major steps of: I, establishing an error model of an inertia device and a Doppler radar; II, determining a state variable based on the application of inertia/Doppler integrated navigation on an airborne fixed-wing aircraft; III, establishing an inertia/Doppler radar integrated navigation state equation; IV, establishing an inertia/Doppler radar integrated navigation measurement equation; V, discretizing a Kalman filtering continuous system; and VI, performing Kalman filtering data fusion resolving, obtaining the sub-optimal estimation related to navigation parameters through state estimation, and correcting the inertial navigation and Doppler radar in a closed-loop feedback mode at the same time. The method disclosed by the invention makes full use of the Doppler information and inertial navigation information, puts forward a data fusion scheme for airborne inertia/Doppler radar integrated navigation, effectively solves the problem of a navigation error caused by an imperfect error model, and improves the system precision.

Description

(1) Technical field [0001] The invention relates to an information fusion method for an airborne inertial / Doppler radar integrated navigation system. It proposes a real-time navigation method suitable for the system in detail. This method is applied to the airborne integrated navigation and can effectively improve the system Accuracy belongs to the technical field of aviation and aerospace navigation. (2) Background technology [0002] At present, the navigation system has become an indispensable and important equipment on ships, aircraft, missiles, spacecraft, automobiles and other flying bodies. The most basic navigation parameters needed for navigation are the real-time position, velocity and attitude of the carrier. With the rapid expansion of the width, depth and height of the fields touched by modern warfare, navigation technology plays an increasingly important role in modern warfare. [0003] In order to meet the requirements of high-precision navigation, integrate...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/86
Inventor 晁代宏张春熹王涛宋来亮王振飞
Owner BEIHANG UNIV
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