基于GPR-UKF的天文测角/测速组合导航方法

doi:10.12305/j.issn.1001-506X.2024.12.27

摘要/Abstract

摘要：

在以太阳作为目标源的天文测速导航中，多普勒速度量测量存在较多野值误差，严重影响导航精度。对此，提出一种基于高斯过程回归与无迹卡尔曼滤波(Gaussian process regression and unscented Kalman filtering，GPR-UKF)的野值检测修复方法，建立速度量测量的动态预测模型。此外，还针对不同参数对模型精度的影响进行研究。经仿真验证，所提方法效果显著优于传统野值处理方法。

关键词: 组合导航, 高斯过程回归, 无迹卡尔曼滤波, 太阳多普勒速度, 星光角距, 野值处理

Abstract:

In astronomical velocity measurement navigation with the Sun as the target source, there are many outliers in Doppler velocity measurement, which seriously affects the accuracy of navigation. Thus, a outlier detection and repair method based on Gaussian process regression and unscented Kalman filtering (GPR-UKF) is proposed to establish a dynamic prediction model for velocity measurement. In addition, the impact of different parameters on the accuracy of the model is researched. Simulation verification test demonstrates that the proposed method has better performance than traditional outlier processing methods.

Key words: integrated navigation, Gaussian process regression (GPR), unscented Kalman filtering (UKF), solar Doppler velocity, starlight angle pitch, outlier processing

中图分类号:

V448.2

张寿健, 桂明臻. 基于GPR-UKF的天文测角/测速组合导航方法[J]. 系统工程与电子技术, 2024, 46(12): 4183-4191.

Shoujian ZHANG, Mingzhen GUI. Navigation method using angle/velocity measurement based on GPR-UKF[J]. Systems Engineering and Electronics, 2024, 46(12): 4183-4191.

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不同方法	导航位置误差均值/km	导航最大位置误差/km	导航速度误差均值/(m/s)	导航最大速度误差/(m/s)
不含野值	5.304 0	19.187 0	1.857 9	8.660 0
含野值不处理	362.000 0	1 580.200 0	63.706 0	718.336 6
传统野值处理	146.040 0	947.060 0	3.849 7	17.815 7
GPR野值处理	5.807 8	19.344 0	1.858 1	8.660 0

初始训练样本点数	导航位置误差均值/km	导航最大位置误差/km	导航速度误差均值/(m/s)	导航最大速度误差/(m/s)
200	11.834	75.436	1.933	8.660
300	11.123	30.121	1.861	8.660
400	6.610	19.188	1.858	8.660

动态训练样本点数	导航位置误差均值/km	导航最大位置误差/km	导航速度误差均值/(m/s)	导航最大速度误差/(m/s)
200	5.648 4	19.188	1.858 1	8.660 0
300	6.953 2	19.235	1.858 5	8.660 0
400	7.100 0	19.469	1.858 5	8.660 0

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