基于双模式切换的机载惯性/雷达组合导航方法

doi:10.12305/j.issn.1001-506X.2024.08.24

摘要/Abstract

摘要：

针对机载惯性导航系统(inertial navigation system, INS)/毫米波雷达组合导航系统中, 毫米波雷达测角随机常值误差会带来定位精度损失问题, 提出一种基于容积卡尔曼滤波算法的双模式自适应双重切换INS/毫米波雷达组合导航方法。将组合导航过程分为斜距角位置匹配与相对位置矢量匹配两个阶段, 并对导航系统建模方法进行改进, 将测角常值误差导致的位置误差从组合误差中分离出来。导航初阶段采用斜距角位置匹配模式, 针对近距时滤波发散的问题, 采用基于滑动窗方差判别的模式切换方法对切换条件进行实时判定, 判定满足条件后自动切换组合模式为相对位置矢量匹配模式。以载机着陆为背景进行仿真验证, 结果表明, 所提方法有效提升了组合导航精度, 具有一定的工程意义。

关键词: 机载惯性导航系统, 毫米波雷达, 组合导航, 双模式切换

Abstract:

In the airborne inertial navigation system (INS)/millimeter wave radar integrated navigation system, the positioning accuracy would be decreased due to the random constant error contained in the angle measurement of millimeter wave radar. Aiming at this problem, a kind of adaptive dual-mode switching INS/millimeter wave radar integrated navigation method based on cubature Kalman filter (CKF) algorithm is proposed. The integrated navigation process is divided into the slant range and angular position matching stage and the relative position vector matching stage, and meanwhile the modeling method is improved in order to separate the position error caused by the angle measurement constant error from the combined error. In the navigation primary stage, the slant range and angular position matching mode is adopted. Aiming at the filtering divergence problem caused by close range, mode switching method based on sliding window variance detection is used to judge the switching conditions in real time. Once the switch condition is satisfied, the integrated mode automatically switched to the relative position vector matching mode. The proposed algorithm is simulated on the background of airborne landing. Simulation results show that the proposed method effectively improves the precision of integrated navigation, and has certain engineering significance.

Key words: airborne inertial navigation system (INS), millimeter wave radar, integrated navigation, dual-mode switching

中图分类号:

TP273+.2

张冬, 邢福逸, 徐允鹤, 钱鹏. 基于双模式切换的机载惯性/雷达组合导航方法[J]. 系统工程与电子技术, 2024, 46(8): 2770-2778.

Dong ZHANG, Fuyi XING, Yunhe XU, Peng QIAN. Airborne inertial navigation system/radar integrated navigation method based on dual-mode switching[J]. Systems Engineering and Electronics, 2024, 46(8): 2770-2778.

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组合误差	雷达测角常值误差设定/(°)
组合误差	0.03	0.06	0.10
东速误差/(m/s)	0.06	0.03	0.03
北速误差/(m/s)	0.06	0.03	0.04
经度误差/(°)	0.51	0.34	0.24
纬度误差/(°)	0.55	0.42	0.55

组合方法	误差项
组合方法	仿真中雷达测角常值误差设定值/(°)	东速误差均方根值/(m/s)	北速误差均方根值/(m/s)	经度误差均方根值/(°)	纬度误差均方根值/(°)
本文方法	0.03	0.06	0.06	0.51	0.55
	0.06	0.03	0.03	0.34	0.42
	0.10	0.03	0.04	0.24	0.55
地球系下位置信息匹配方法	0.03	0.07	0.07	2.54	2.99
	0.06	0.12	0.11	5.20	6.00
	0.10	0.15	0.14	8.71	9.81
斜距角位置匹配方法	0.03	0.51	0.32	5.33	4.97
	0.06	0.68	0.74	8.51	10.31
	0.10	0.85	0.78	11.77	14.27
本文方法精度提升百分比/%	0.03	14.3/88.2	14.3/81.3	79.9/90.4	81.6/88.9
	0.06	75.0/95.6	72.7/95.9	93.5/96.0	93.0/95.9
	0.10	80.0/96.5	71.4/94.9	97.2/97.9	94.4/96.1

组合误差	雷达测角常值误差设定/(°)
组合误差	0.03	0.06	0.10
东速误差/(m/s)	0.06	0.05	0.06
北速误差/(m/s)	0.05	0.03	0.04
经度误差/(°)	0.66	0.55	0.62
纬度误差/(°)	0.55	0.46	0.54

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