星光/惯性组合导航系统分析与研究
|
摘要
在现代导航系统中,捷联惯性导航系统因具有自主性强、隐蔽性好、数据更新率高、宽频带和信息全面等优点,被广泛应用于各个领域。但是由于惯性测量元件误差随着时间累积,所以在长时间连续工作的条件下,惯性导航系统的导航精度会随着时间延长而降低。星敏感器是目前应用最广泛的星载姿态敏感器,虽然数据更新率较低,但是其具有指向精度高、无姿态积累误差等优良特性。因此将捷联惯性导航系统和星敏感器相结合,构成星光/惯性组合导航系统,以捷联惯性导航为主,以星光导航为辅,综合利用捷联惯性导航信息和星光导航信息,可以提高飞行器的导航精度。
本文结合捷联惯导和星光导航各自的特点,进行了星光/惯性组合导航系统的研究与分析,主要做了以下几方面的工作:
1.对捷联式惯性导航系统的基本原理进行了研究,分析了捷联惯导系统的误差传播特性,并进行了惯导系统的姿态和位置的解算。
2.对天文导航的基本原理进行研究,研究了星图模拟系统、恒星敏感器的测姿原理和基于恒星敏感器的飞行器姿态确定算法。
3.研究了星光/惯性组合导航的原理及其组合模式,完成组合导航系统半实物仿真实验;对组合导航系统的误差状态进行了分析;研究了卡尔曼滤波理论并编写了卡尔曼滤波程序,对组合导航系统进行了滤波分析。
In modern navigation, the Strapdown Inertial Navigation System(SINS)was widely used for it’s advantages such as independence,concealment , wide frequency band and all-around information. The disadvantage and deficiency of SINS is also obvious because as the drift errors of the inertial measurement component increase with time, the accumulated error make it unsuitable for long-time operating continuously. The star sensor wins general popularity in modern navigation for its high accuracy, intelligence and working without accumulate error. The SINS/CNS integrated navigation mode is formed in recent years to correct the navigation parameter, it gives priority to the strapdown inertial navigation system and it is complemented by the stars information. The integrated navigation system can improve aircraft's navigation accuracy obviously.
This paper does research on the SINS/CNS Integrated Navigation System,it is mainly constituted by the following aspects:
Fristly,this paper does the research on quaternion theory and coordinate system theory, It also analyses the basis principle of the strapdown inertial navigation system and its error propagation,it also analyses the basis knowledge of celestial navigation and makes the research of the astronomical navigation system.
Secondly, the stateequtation of integrated navigation system is established.The observation equtation of integrated navigation system is established by attitude quaternion error defined by attitude quaternion of SINS and star sensor.
Finally, the paper deduces the Kalman filter theory and uses the Kalman filter to the combine the two navigation systems and do a series of analysis about the Integrated Navigation System.
本文结合捷联惯导和星光导航各自的特点,进行了星光/惯性组合导航系统的研究与分析,主要做了以下几方面的工作:
1.对捷联式惯性导航系统的基本原理进行了研究,分析了捷联惯导系统的误差传播特性,并进行了惯导系统的姿态和位置的解算。
2.对天文导航的基本原理进行研究,研究了星图模拟系统、恒星敏感器的测姿原理和基于恒星敏感器的飞行器姿态确定算法。
3.研究了星光/惯性组合导航的原理及其组合模式,完成组合导航系统半实物仿真实验;对组合导航系统的误差状态进行了分析;研究了卡尔曼滤波理论并编写了卡尔曼滤波程序,对组合导航系统进行了滤波分析。
In modern navigation, the Strapdown Inertial Navigation System(SINS)was widely used for it’s advantages such as independence,concealment , wide frequency band and all-around information. The disadvantage and deficiency of SINS is also obvious because as the drift errors of the inertial measurement component increase with time, the accumulated error make it unsuitable for long-time operating continuously. The star sensor wins general popularity in modern navigation for its high accuracy, intelligence and working without accumulate error. The SINS/CNS integrated navigation mode is formed in recent years to correct the navigation parameter, it gives priority to the strapdown inertial navigation system and it is complemented by the stars information. The integrated navigation system can improve aircraft's navigation accuracy obviously.
This paper does research on the SINS/CNS Integrated Navigation System,it is mainly constituted by the following aspects:
Fristly,this paper does the research on quaternion theory and coordinate system theory, It also analyses the basis principle of the strapdown inertial navigation system and its error propagation,it also analyses the basis knowledge of celestial navigation and makes the research of the astronomical navigation system.
Secondly, the stateequtation of integrated navigation system is established.The observation equtation of integrated navigation system is established by attitude quaternion error defined by attitude quaternion of SINS and star sensor.
Finally, the paper deduces the Kalman filter theory and uses the Kalman filter to the combine the two navigation systems and do a series of analysis about the Integrated Navigation System.
引文
1崔中兴.惯性导航系统[M].北京:国防工业出版社, 1982.
2房建成,宁晓琳.天文导航原理及应用[M].北京:北京航空航天大学出版社, 2006.
3何炬.国外天文导航技术综述[J].舰船科学技术,2005,10(5)
4秦永元.惯性导航[M].上海:科学出版社. 2006
5 N.Barbour C.S.Draper实验室.惯性器件的过去、现在和将来[J].国外惯性技术信息,2005(3)
6章燕申.高精度导航系统[M].北京:中国宇航出版社, 2005
7邓正隆.惯性技术[M].哈尔滨:哈尔滨工业大学出版社. 2005
8陈哲.捷联惯导系统原理[M].北京:宇航出版社. 1986: 61~66
9张树侠,孙静.捷联式惯性导航系统[M].北京:国防工业出版社, 1992
10秦永元,张洪钺,汪叔华.卡尔曼滤波和组合导航系统[M].西安:西北工业大学出版社, 1998. 33~138
11赵明波.机载惯导/天文组合导航技术研究与仿真分析[J].国防科技大学硕士论文, 2008
12张曼.基于SINS/路基/星敏感器的组合导航研究[J].哈尔滨工业大学硕士论文, 2007
13 Joao Luis Marins, Xiaoping Yun, et al. An Extended Kalman Filter for Quaternion-Based Orientation Estimation Using MARG Sensors[J]. Proceedings of the IEEE, 2001: 2003~2011
14 David H. Titterton, John L. Weston. Strapdown Inertial Navigation Technology (2nd Edition)[D]. The Institution of Electrical Engineers, 2004
15 Liebe,C.C. Accuracy Performance of Star Trackers A Tutorial[J]. IEEE Transactions on Aerospace and Electronic Systems. 2002, 38(2): 587~599
16程向红,郑敏.捷联惯导系统中Kalman参数优化方法[J].中国惯性技术学报.第14卷,第4期, 2006
17邓自立.卡尔曼滤波与维纳滤波——现代时间序列分析方法[J].遥感技术与应用, 2001
18 Fredirc Nadeau. The CIGFT Connection: A Story of Precision Testing at theCentral Inertial Guidance Test Facility[D]. Institute of Navigation, Annual Meeting, 51st, 1995
19孙百香,董恩生,张立静.基于MEMS技术的微型组合导航传感器系统研究. 2008, (3):30~32
20付梦印,邓志红,张继伟. Kalman滤波理论及其在惯导系统中的应用[M]. S上海:科学出版社, 2003
21郭子正.四元数法.西安:西北工业大学出版社, 1981
22陈哲等.组合导航技术数字化与信息化的新进展[J].中国惯性技术学会第五届学术年会论文集,2003(12)
23 David H.Titterton, John L.Weston.Strapdown Inertial Navigation Technology(2nd Edition)[M]. Beijing: National Defense Industry Press, 2007
24 Bar-Itzhack I Y, Berman N. Control theoretic Approach to inertial navigation systems[J]. Journal of Guidance and Control, 1988, 11(3): 237~245
25金振山,申功勋. INS/CNS/Doppler组合导航系统在航空上的应用研究.中国惯性技术学会第五届学术年会论文集,2003(12)
26房建成,宁晓琳,田玉龙等.航天器自主天文导航原理与方法[M].北京:国防工业出版社, 2006.
27周宝林.惯性/天文组合导航系统半物理仿真研究.哈尔滨工业大学硕士学位论文, 2009. 6
28 Meskin D G, Bar-Itzhack I Y. Observability analysis of piece-wise constant systems, Part 1: Theory [J]. IEEE Trans on Aerospace and Electronic Systems, 1991, 28 (4): 1056~1067
29 J.E.Potter, W.E.Vander Velde.Optimum Mixing of Gyroscope and StarTracker Data [J]. Journal of Spacecraft. 1967,5(5): 536~540
30 Dohyoung Chung, Jang Gyu Lee, Chan Gook Park, Heung Won Park. Strapdown INS Error Model for Multiposition Alignment [J]. IEEE Transactions on Aerospace and Electronic Systems, Vol. 32, No. 4 October, 1996
31王建琦,曹喜滨,孙兆伟.基于UKF算法的航天器自主导航研究[J].飞行力学, 2004, 22(2): 41~44
32张浩. SINS/GPS组合导航系统滤波算法研究及工程实现[J].南京理工大学硕士学位论文, 2004: 30~39
33 G.. Kamberova. Decision-Theoretic Approach to Robust Fusion of Location Data [J]. Journal of the Franklin Institute, 1999, 336(2): 269~284
34 R. F. Gamble. Using Software Architecture to Formally Derive Synchronous Knowledge Based Systems[J]. International Journal of Expert Systems, 1997, 10(2):93~135
35杨博,房建成,伍小洁.一种航天器天文自主定轨方法[J].中国惯性技术学报, 2002, 8(3): 33~36
36 Simon Julier, Jeffrey Uhlmann, F.Durrant-whyte. A New Method for The Nonlinear Transformation of Means and Covariances in Filters and Estimators [J]. IEEE Trans on Auto Control, 2000, 45(3): 477～482
37王振华,黄盖云.基于星图匹配技术的天文导航原理及精度分析.in(见):中国电子学会导航分会中国航海学会通信导航专业委员会eds.第六届导航及海上通信学术年会论文集.西安.2001.西安:导航编辑部, 2001. 174～181
38潘鸿飞,杨柏军,王立强.陀螺仪随机漂移的测量及其数学模型的建立[J].上海航天, 2003, (3): 20～23
39虞厚柏.天文导航的战略地位[J].华中光电技术研究所, 2002
40吴简彤,马文国,王利存等.船舶捷联式惯导系统中姿态矩阵算法研究[J].导航, 1997, (1): 88～94
41 Malak anees samaan.Toward Faster and More Accurate Star Sensors Using Centroidingand Star Identification [D]. Texas A&M University, 2003.25～32
42 J.R.Huddle, Historical Perspective and Potential Directions for Estimation inInertial Survey [J], Proceedings 3rd International Symposium on Inertial Technology for Survey and Geodesy, 1985.
43 N.Nagarajan, M.Seetharama Bhat, K.Kasturirangan. Modified Kanlman Filter Based Autonomous Orbit Determination Using Horizon Scanner Measurements [J]. Acta Astronautic, 1996, 38(10): 769~782
44 P.H.Andersen, K.Aksnes, H.Skonnord. Precise ER-2 Orbit Determinatin Using SLR, Prare and RA Observations [J]. Journal of Geodery, 1998: 421~429
45 Daniele Mortari. Second Estimator of the Optimal Quaternion [J]. Journal of Guidance,Control and Dynamics, 2000, 23(5): 885～887
46 Hye-young Kim. Novel Methods for Spacecraft Attitude [D]. Texas A&M University, 2002, 1～2
2房建成,宁晓琳.天文导航原理及应用[M].北京:北京航空航天大学出版社, 2006.
3何炬.国外天文导航技术综述[J].舰船科学技术,2005,10(5)
4秦永元.惯性导航[M].上海:科学出版社. 2006
5 N.Barbour C.S.Draper实验室.惯性器件的过去、现在和将来[J].国外惯性技术信息,2005(3)
6章燕申.高精度导航系统[M].北京:中国宇航出版社, 2005
7邓正隆.惯性技术[M].哈尔滨:哈尔滨工业大学出版社. 2005
8陈哲.捷联惯导系统原理[M].北京:宇航出版社. 1986: 61~66
9张树侠,孙静.捷联式惯性导航系统[M].北京:国防工业出版社, 1992
10秦永元,张洪钺,汪叔华.卡尔曼滤波和组合导航系统[M].西安:西北工业大学出版社, 1998. 33~138
11赵明波.机载惯导/天文组合导航技术研究与仿真分析[J].国防科技大学硕士论文, 2008
12张曼.基于SINS/路基/星敏感器的组合导航研究[J].哈尔滨工业大学硕士论文, 2007
13 Joao Luis Marins, Xiaoping Yun, et al. An Extended Kalman Filter for Quaternion-Based Orientation Estimation Using MARG Sensors[J]. Proceedings of the IEEE, 2001: 2003~2011
14 David H. Titterton, John L. Weston. Strapdown Inertial Navigation Technology (2nd Edition)[D]. The Institution of Electrical Engineers, 2004
15 Liebe,C.C. Accuracy Performance of Star Trackers A Tutorial[J]. IEEE Transactions on Aerospace and Electronic Systems. 2002, 38(2): 587~599
16程向红,郑敏.捷联惯导系统中Kalman参数优化方法[J].中国惯性技术学报.第14卷,第4期, 2006
17邓自立.卡尔曼滤波与维纳滤波——现代时间序列分析方法[J].遥感技术与应用, 2001
18 Fredirc Nadeau. The CIGFT Connection: A Story of Precision Testing at theCentral Inertial Guidance Test Facility[D]. Institute of Navigation, Annual Meeting, 51st, 1995
19孙百香,董恩生,张立静.基于MEMS技术的微型组合导航传感器系统研究. 2008, (3):30~32
20付梦印,邓志红,张继伟. Kalman滤波理论及其在惯导系统中的应用[M]. S上海:科学出版社, 2003
21郭子正.四元数法.西安:西北工业大学出版社, 1981
22陈哲等.组合导航技术数字化与信息化的新进展[J].中国惯性技术学会第五届学术年会论文集,2003(12)
23 David H.Titterton, John L.Weston.Strapdown Inertial Navigation Technology(2nd Edition)[M]. Beijing: National Defense Industry Press, 2007
24 Bar-Itzhack I Y, Berman N. Control theoretic Approach to inertial navigation systems[J]. Journal of Guidance and Control, 1988, 11(3): 237~245
25金振山,申功勋. INS/CNS/Doppler组合导航系统在航空上的应用研究.中国惯性技术学会第五届学术年会论文集,2003(12)
26房建成,宁晓琳,田玉龙等.航天器自主天文导航原理与方法[M].北京:国防工业出版社, 2006.
27周宝林.惯性/天文组合导航系统半物理仿真研究.哈尔滨工业大学硕士学位论文, 2009. 6
28 Meskin D G, Bar-Itzhack I Y. Observability analysis of piece-wise constant systems, Part 1: Theory [J]. IEEE Trans on Aerospace and Electronic Systems, 1991, 28 (4): 1056~1067
29 J.E.Potter, W.E.Vander Velde.Optimum Mixing of Gyroscope and StarTracker Data [J]. Journal of Spacecraft. 1967,5(5): 536~540
30 Dohyoung Chung, Jang Gyu Lee, Chan Gook Park, Heung Won Park. Strapdown INS Error Model for Multiposition Alignment [J]. IEEE Transactions on Aerospace and Electronic Systems, Vol. 32, No. 4 October, 1996
31王建琦,曹喜滨,孙兆伟.基于UKF算法的航天器自主导航研究[J].飞行力学, 2004, 22(2): 41~44
32张浩. SINS/GPS组合导航系统滤波算法研究及工程实现[J].南京理工大学硕士学位论文, 2004: 30~39
33 G.. Kamberova. Decision-Theoretic Approach to Robust Fusion of Location Data [J]. Journal of the Franklin Institute, 1999, 336(2): 269~284
34 R. F. Gamble. Using Software Architecture to Formally Derive Synchronous Knowledge Based Systems[J]. International Journal of Expert Systems, 1997, 10(2):93~135
35杨博,房建成,伍小洁.一种航天器天文自主定轨方法[J].中国惯性技术学报, 2002, 8(3): 33~36
36 Simon Julier, Jeffrey Uhlmann, F.Durrant-whyte. A New Method for The Nonlinear Transformation of Means and Covariances in Filters and Estimators [J]. IEEE Trans on Auto Control, 2000, 45(3): 477～482
37王振华,黄盖云.基于星图匹配技术的天文导航原理及精度分析.in(见):中国电子学会导航分会中国航海学会通信导航专业委员会eds.第六届导航及海上通信学术年会论文集.西安.2001.西安:导航编辑部, 2001. 174～181
38潘鸿飞,杨柏军,王立强.陀螺仪随机漂移的测量及其数学模型的建立[J].上海航天, 2003, (3): 20～23
39虞厚柏.天文导航的战略地位[J].华中光电技术研究所, 2002
40吴简彤,马文国,王利存等.船舶捷联式惯导系统中姿态矩阵算法研究[J].导航, 1997, (1): 88～94
41 Malak anees samaan.Toward Faster and More Accurate Star Sensors Using Centroidingand Star Identification [D]. Texas A&M University, 2003.25～32
42 J.R.Huddle, Historical Perspective and Potential Directions for Estimation inInertial Survey [J], Proceedings 3rd International Symposium on Inertial Technology for Survey and Geodesy, 1985.
43 N.Nagarajan, M.Seetharama Bhat, K.Kasturirangan. Modified Kanlman Filter Based Autonomous Orbit Determination Using Horizon Scanner Measurements [J]. Acta Astronautic, 1996, 38(10): 769~782
44 P.H.Andersen, K.Aksnes, H.Skonnord. Precise ER-2 Orbit Determinatin Using SLR, Prare and RA Observations [J]. Journal of Geodery, 1998: 421~429
45 Daniele Mortari. Second Estimator of the Optimal Quaternion [J]. Journal of Guidance,Control and Dynamics, 2000, 23(5): 885～887
46 Hye-young Kim. Novel Methods for Spacecraft Attitude [D]. Texas A&M University, 2002, 1～2