一种机载惯性/光电组合导航误差修正方法
Error correction method for airborne SINS/EODS integrated navigation
周紫君 1郁丰 1吴方 2熊智 3林思颖1
作者信息
- 1. 南京航空航天大学 航天学院,南京 210016;空间光电探测与感知工业和信息化部重点实验室,南京 210016
- 2. 华东计算技术研究所,上海 201808
- 3. 南京航空航天大学 自动化学院,南京 210016
- 折叠
摘要
为提升无人机在全球卫星导航系统受限甚至拒止环境下的导航精度,提出了一种机载惯性/光电组合导航误差修正方法.考虑了捷联惯性导航系统(SINS)姿态误差对光电探测系统(EODS)定位精度的影响,建立了包含SINS姿态误差的测量方程,推导了滤波观测噪声与EODS测距、测角误差之间的函数关系,建立了准确的观测噪声协方差矩阵模型.仿真结果表明:相较于传统SINS/EODS组合导航算法,所提方法滤波收敛速度更快,并且有着更高的姿态和位置精度,2000 s后横滚、俯仰、航向精度分别提高 47%、59%、82%,东向、北向、天向定位精度分别提高 49%、44%、25%,提升了无人机在卫星信号较弱或缺失的环境下的导航能力.
Abstract
To enhance the navigation accuracy of unmanned aerial vehicles(UAVs)in the environment where the global navigation satellite system is limited or even denied,a method of error correction for airborne strapdown inertial navigation system(SINS)/electro-optical detection system(EODS)integrated navigation is proposed.The impact of SINS attitude errors on the positioning accuracy of the EODS is considered,and the measurement equation considering SINS attitude errors is established.Meanwhile,the functional relationship between filtering observation noise and ranging and angle measurement errors of the EODS is deduced,and an accurate observation noise covariance matrix model is established.The simulation results show that compared with the traditional SINS/EODS integrated navigation algorithm,the proposed method has faster filtering convergence and higher attitude and position accuracy.After 2000 s,the roll,pitch and heading attitude accuracy have been improved by 47%,59%,82%,respectively.The eastward,northward and upward positioning accuracy have been improved by 49%,44%,25%,respectively,which can improve the navigation performance of the UAVs positioning system in the environment with weak or missing satellite signals.
关键词
GPS拒止/光电导航/捷联惯性导航系统/组合导航/卡尔曼滤波Key words
GPS denial/photoelectric navigation/strapdown inertial navigation system/integrated navigation/Kalman filtering引用本文复制引用
出版年
2024
NETL
NSTL
万方数据