【摘要】 为满足复杂的环境下战术导弹导航系统的高可靠性导航的要求,对战术导弹的多传感器组合导航进行了研究。提出了一种基于新型自适应联邦卡尔曼滤波的巡航导弹SINS/GPS/EC组合导航方法,根据联邦滤波的分散滤波结构,分别建立了各滤波器的模型,进行了仿真试验验证。仿真结果表明,采用新型自适应联邦卡尔曼滤波算法的导航精度比采用集中卡尔曼滤波算法提高幅度不大,略高一些,但从自适应联邦卡尔曼滤波器的容错性比集中卡尔曼滤波器好得多,便于各导航子系统的故障检查和隔离。本文设计自适应联邦SINS/GPS/EC滤波器的在子系统较多的组合导航设计中具有高可靠性、低计算量、低成本和小体积等优势,具有工程应用价值。更多还原

【Abstract】 To satisfy the high-reliable navigation demand in the complex environments for the tactical missile,a new multi-sensor integrated navigation technique was studied.First,a integrated SINS/GPS/EC navigation method based on the self-adaptive federated Kalman filter is proposed,and a new multi-sensor integrated navigation model was established.Then,according to the theory of self-adaptive federated filter,two sub-filters model,namely,SINS/GPS filter and SINS/EC filter model,were built and analyzed.Finally,simulation experiments are made.Comparing with traditional method,the simulation results show that the proposed method can reduce the computation burden and improve the stability and fault tolerance with no less of accuracy.更多还原