考虑SAR量测特性的弹载SINS/SAR组合导航滤波算法

doi:10.12305/j.issn.1001-506X.2021.04.22

Abstract

Abstract:

In the missile-borne strapdown inertial navigation system (SINS)/synthetic aperture radar (SAR) integrated navigation system, in terms of the problems of different measurement output time intervals and the SAR measurement lag, a non-equal interval unscented Kalman filter (UKF) algorithm for solving the measurement lag by using the curve fitting method is proposed. Firstly, on the basis of UKF, using the characteristics of system state transition matrix, the measurement is updated according to whether there is measurement output or not, which solves the non-synchronous problem of the measurement. Then, the curve fitting compensation method is used to fit the SAR output information to obtain the compensation algorithm of the SAR measurement information lag. Finally, the effectiveness of the proposed algorithm is verified by the missile-borne SINS/SAR integrated navigation system. The simulation results show that the absolute value of east position error, heading angle error and north velocity error are 5.12 m, 6.63″ and 0.08 m/s, respectively. Compared with the traditional UKF algorithm, the filtering accuracy of integrated navigation system is effectively improved.

Key words: integrated navigation, non-equal interval measurement, measurement lag, unscented Kalman filter (UKF) algorithm

CLC Number:

TJ765.1

Jing SU, Huafeng HE, Yaomin HE, Yifan WANG, Xiaofei HAN. Filtering algorithm of missile-borne SINS/SAR integrated navigation considering SAR measurement characteristics[J]. Systems Engineering and Electronics, 2021, 43(4): 1044-1049.

Figures/Tables 8

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References 24

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误差项	误差值(1σ)	相关时间
陀螺仪常值漂移	0.1/(°/h)	1/h
陀螺仪量测白噪声	0.05/(°/h)	0
加速度计常值偏置	10^-4g	0.5/h
加速度计量测白噪声	5×10^-5g	0

滤波算法	东向位置/m	航向角/(″)	北向速度/(m/s)
算法1	13.56	38.56	0.59
算法2	8.49	10.52	0.21
算法3	5.12	6.63	0.08

次数	1	2	3	4	5
算法1	14.21	11.38	12.29	10.37	16.59

次数	6	7	8	9	10
算法1	13.61	11.89	18.60	13.38	11.12

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Filtering algorithm of missile-borne SINS/SAR integrated navigation considering SAR measurement characteristics

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