Aerospace vehicle combined navigation robust filtering method based on launching inertia coordinate system

An inertial coordinate system and a technology for aerospace vehicles, which are applied in the field of robust filtering for integrated navigation of aerospace vehicles, can solve problems such as difficulty in obtaining an accurate model of the navigation system, limitation of Kalman filter filtering performance, and complex flight environment.

Inactive Publication Date: 2014-12-17
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

The flight environment faced by aerospace vehicles is complex and there are many uncertain factors, which usually have unpredictable effects on the navigation system

Method used

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  • Aerospace vehicle combined navigation robust filtering method based on launching inertia coordinate system
  • Aerospace vehicle combined navigation robust filtering method based on launching inertia coordinate system
  • Aerospace vehicle combined navigation robust filtering method based on launching inertia coordinate system

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specific Embodiment approach

[0053] 1. Establish a solution model for the inertial navigation system in the launch inertial coordinate system

[0054] (1.1) Velocity calculation model in launching inertial system

[0055] Coordinate system definition: e system-earth coordinate system; i system-geocentric inertial coordinate system; l system-launching inertial coordinate system; b system-carrier coordinate system (front upper right); g system-geographic coordinate system

[0056] In the launching inertial coordinate system, the velocity calculation model of the carrier is:

[0057] v · l = C b l · f b + C i l · G i - - - ( 1 )

[0058] Where v l Is the speed of the aircraft relative to the launching inertial system, Is the vehicle speed v l The first derivative of; f b Is the specific force output by the accelerometer; G i It is the earth's gravitation in the inertial coordinate system. Because the earth is a non-ideal sphere, the geological structure...

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Abstract

The invention discloses an aerospace vehicle combined navigation robust filtering method based on a launching inertia coordinate system, belonging to the technical field of air vehicle combined navigation. The aerospace vehicle combined navigation robust filtering method comprises the following steps of performing inertial navigation algorithm arrangement by taking the launching inertia coordinate system as a reference coordinate system, and constructing a position, speed and posture calculation model of an air vehicle under the launching inertia coordinate system; on the basis of the position, speed and posture calculation model, constructing an equation of navigation system error states including a basic navigation parameter error and an inertia instrument error, and obtaining a posture linear measurement equation through a conversion module according to original star sensor measurement information; and finally estimating and correcting all state values in the constructed state equation by the robust filtering method. According to the aerospace vehicle combined navigation robust filtering method disclosed by the invention, the influence, caused by a geophysical field, on the navigation system of the air vehicle can be effectively reduced; furthermore, under a condition that the navigation system model of the air vehicle is inaccurate, a filter can work stably; therefore, the precision of a combined navigation system is improved.

Description

Technical field [0001] The invention discloses a robust filtering method for aerospace vehicle integrated navigation based on a launching inertial coordinate system, and relates to the technical field of integrated navigation. Background technique [0002] In recent years, with the development of aerospace technology, new types of aircraft such as near-space hypersonic vehicles and aerospace vehicles exhibit the characteristics of long endurance and large airspace flight, and their requirements for navigation system performance are increasing. [0003] Traditional aviation aircraft usually use the geographic coordinate system as the reference coordinate system for strapdown inertial navigation algorithm layout. In the strapdown inertial navigation system algorithm layout, the gravity field and curvature radius changes are directly ignored or simplified, mainly considering the geographic system layout It is more intuitive, and in a short time and short distance flight, this processi...

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 赵慧熊智潘加亮孙永荣郁丰刘建业许建新柏青青王融王洁程娇娇林爱军戴怡洁施丽娟孔雪博
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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