基于SINS/GBAS组合导航的高精度进近着陆导航技术

doi:10.12305/j.issn.1001-506X.2023.01.25

系统工程与电子技术 ›› 2023, Vol. 45 ›› Issue (1): 210-220.doi: 10.12305/j.issn.1001-506X.2023.01.25

• 制导、导航与控制 • 上一篇

基于SINS/GBAS组合导航的高精度进近着陆导航技术

高利春¹^,²^,*, 高铭阳¹, 陈晓芳², 饶建兵¹, 费泽松³, 倪少杰⁴

1. 中国航天科工集团空间工程总体部, 北京 100854
2. 武汉理工大学管理学院, 湖北武汉 430070
3. 北京理工大学信息与电子学院, 北京 100081
4. 国防科技大学电子科学学院, 湖南长沙 410003

收稿日期:2020-11-23 出版日期:2023-01-01 发布日期:2023-01-03
通讯作者: 高利春
作者简介:高利春 (1984—), 男, 高级工程师, 博士研究生, 主要研究方向为卫星通信、管理科学与工程
高铭阳 (1990—), 女, 高级工程师, 硕士, 主要研究方向为卫星通信、飞行器总体设计、组合导航
陈晓芳 (1967—), 女, 教授, 博士研究生导师, 博士，主要研究方向为管理科学与工程, 重大工程管理咨询、评审
饶建兵 (1988—), 男, 高级工程师, 硕士, 主要研究方向为卫星通信、飞行器总体设计、轨道设计
费泽松 (1977—), 男, 教授, 博士, 主要研究方向为无线通信与信号处理
倪少杰 (1978—), 男, 研究员, 博士, 主要研究方向为星基导航
基金资助:
国家242信息安全专项(2019A121)

High precision approach-and-landing navigation technology based on SINS/GBAS integrated navigation

Lichun GAO¹^,²^,*, Mingyang GAO¹, Xiaofang CHEN², Jianbing RAO¹, Zesong FEI³, Shaojie NI⁴

1. Space Engineering Development, China Aerospace Science and Industry Corporation Limited, Beijing 100854, China
2. School of Management, Wuhan University of Technology, Wuhan 430070, China
3. School of Information and Electronics, Beijing Institute of Technology, Beijing 100081, China
4. College of Electronic Science and Technology, National University of Defense Technology, Changsha 410003, China

Received:2020-11-23 Online:2023-01-01 Published:2023-01-03
Contact: Lichun GAO

摘要/Abstract

摘要：

可重复使用运载器在进近着陆阶段对位置偏差有较高的精度要求, 而现有的组合导航方式的导航误差波动幅度较大, 难以满足运载器在进近着陆段的导航要求。因此，本文利用捷联惯导系统(strap-down inertial navigation system，SINS)的非线性误差传播模型, 以陆基增强系统(ground based augmentation system，GBAS)输出的精确位置信息为基础, 建立SINS/GBAS组合导航方法, 并给出“输出+反馈”的组合导航复合修正结构。通过在GBAS中引入电离层误差及对流层误差, 从而实现了对于运载器定位误差在厘米级的精确定位。此外，通过引入扩展卡尔曼滤波技术, 有效地抑制了惯导误差漂移的问题。通过数值模拟仿真, 证明SINS/GBAS组合导航对飞行器进近着陆段的水平与高程定位误差不大于0.05 m, 测速误差不大于0.05 m/s, 从而证实了SINS/GBAS组合导航方式在可重复运载器在进近着陆段导航的可行性。

关键词: 组合导航, 卫星导航, 陆基增强系统, 进近着陆

Abstract:

Reusable launch vehicles have high accuracy requirements for position deviation during the approach-and-landing phase. However, the existed combined navigation methods have a large fluctuation of the navigation error, which cannot meet the navigation requirements of the launch vehicle in the landing approach section. In this paper, we establish a combined navigation method based on the precise position information output form the ground based augmentation system (GBAS) and the nonlinear error propagation model of the combined navigation strap-down inertial navigation system (SINS). We provide a composite correction structure of "output+feedback" for the launch vehicle navigation based on SINS/GBAS combined navigation. By introducing ionospheric and tropospheric errors into GBAS, the precise positioning of the vehicle positioning errors at the centimeter scale is achieved and the inertial guidance error drift problem is effectively suppressed by the extended Kalman filter algorithm. The simulation results show that the horizontal and elevation positioning error of the combined SINS/GBAS navigation is no more than 0.05 m; the velocity error is no more than 0.05 m/s. We verify the feasibility of the combined SINS/GBAS approach for the vehicle approach-and-landing navigation system.

Key words: integrated navigation, satellite navigation, ground based augmentation system, approach-and-landing

中图分类号:

V448.11

高利春, 高铭阳, 陈晓芳, 饶建兵, 费泽松, 倪少杰. 基于SINS/GBAS组合导航的高精度进近着陆导航技术[J]. 系统工程与电子技术, 2023, 45(1): 210-220.

Lichun GAO, Mingyang GAO, Xiaofang CHEN, Jianbing RAO, Zesong FEI, Shaojie NI. High precision approach-and-landing navigation technology based on SINS/GBAS integrated navigation[J]. Systems Engineering and Electronics, 2023, 45(1): 210-220.

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项目	加速度计	光纤陀螺
零偏稳定性	0.1 mg(1σ)	1.0°/h(3σ)
零漂	0.02 mg(1σ)	0.1°/h(3σ)
一次项系数	≤5×10^-5	≤1×10^-4
安装偏差/(″)	≤18	≤27
抗冲击特性	1 000g	500g
动态范围	20g	500°/s
初始姿态偏差/(°)	俯仰: -0.58
	偏航: -0.49
	滚转: 0.80
解算周期/ms	10

GBAS精度指标	数值
定位精度(水平)/m	0.03(1σ)
定位精度(高程)/m	0.05(1σ)
数据更新/ms	100
组合导航周期/ms	100

GPS精度指标	数值
定位精度(水平)/m	6.0(1σ)
定位精度(高程)/m	8.0(1σ)
测速精度/(m/s)	0.2(1σ)
数据更新/ms	100

速度误差/(m/s)	位置误差/m	姿态误差/(′)
水平: 0.159(1σ)	水平: 5.59(1σ)	滚转: 0.67(1σ)
高程: 0.147(1σ)	高程: 5.35(1σ)	俯仰: 0.42(1σ)

速度误差/(m/s)	位置误差/m	姿态误差/(′)
水平: 0.016(1σ)	水平: 0.043(1σ)	滚转: 1.97(1σ)
高程: 0.031(1σ)	高程: 0.036(1σ)	俯仰: 2.52(1σ)

基于SINS/GBAS组合导航的高精度进近着陆导航技术

High precision approach-and-landing navigation technology based on SINS/GBAS integrated navigation

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