【作者】 谢梅林； 杨晓许； 韩俊峰； 魏宇； 岳鹏； 邓小国； 黄伟；

【Author】 XIE Mei-lin;YANG Xiao-xu;Han Jun-feng;WEI Yu;YUE Peng;Deng Xiao-guo;Huang Wei;Xi’an Institute of Optics and Precision Mechanics of CAS;Huayin enginery test center;

【机构】 中国科学院西安光学精密机械研究所； 中国华阴兵器试验中心；

【摘要】 白天恒星导航系统工作时,天空背景辐射强导致探测目标光过弱,由于视场内导航星数量限制,通常选择单星导航工作模式。此时,为了提高机载SINS/CNS组合导航系统的可靠性,满足长航时、高精度的导航需求,采用SINS/CNS紧组合方式,单星巡视的定位、定姿算法。由于CNS系统存在的量测噪声不确定问题,提出一种模糊自适应卡尔曼滤波器(KF),连续调整KF模型中的噪声力度并对噪声方差进行在线修正,防止滤波器发散,提高导航解算精度。通过北斗修正可以提高SINS/CNS的定位精度,无北斗信号输出时,基于虚拟的水平姿态基准,也可保证SINS/CNS组合导航系统较长时间内的导航精度要求。更多还原

【Abstract】 When the star navigation system working during the day, the strong sky background radiation lead to a result that the detect target light is too weak, in the field of view,because of the limitation on the number of the navigation star, usually choose the single star navigation work mode. In order to improve the reliability of the airborne SINS/CNS integrated navigation system, meet the demand of the long-endurance and high precision navigation, use the tight combination way, single star patrol algorithm to get the position and attitude. There exists filtering divergence problem because of the model error and the system measurement noise is uncertain, put forward a new fuzzy adaptive kalman filtering algorithm. Adjust the size of measurement noise to prevent the filter divergence, The positioning accuracy of integrated navigation system can be improved through BeiDou satellite. Without the information of BeiDou satellite, based on the level of the virtual reference, the navigation precision of integrated navigation system can be ensured over a period of time.更多还原