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

Abstract

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

CLC Number:

TP273+.2

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.

Figures/Tables 11

Fig.1

Fig.2

Fig.3

Fig.4

Fig.5

Table 1

Table 2

Fig.6

Fig.7

Fig.8

Table 3

References 30

1	JIANG S A , WANG B N , XIANG M S , et al. Method for InSAR/INS navigation system based on interferogram matching[J]. IET Radar, 2018, 12 (9): 938- 944.
2	JIANG S A , WANG B N , XIANG M S , et al. On designing PMI Kalman filter for INS/GPS integrated systems with unknown sensor errors[J]. IEEE Sensors Journal, 2015, 15 (1): 535- 544. doi: 10.1109/JSEN.2014.2334698
3	HU G G , GAO B B , ZHONG Y M , et al. Unscented Kalman filter with process noise covariance estimation for vehicular INS/GPS integration system[J]. Information Fusion, 2020, 64, 194- 204. doi: 10.1016/j.inffus.2020.08.005
4	WANG G C , XU X S , ZHANG T . M-M estimation-based robust cubature Kalman filter for INS/GPS integrated navigation system[J]. IEEE Trans.on Instrumentation and Measurement, 2021, 70, 1511- 1522.
5	LIU Y H , LUO Q S , ZHOU Y M . Deep learning-enabled fusion to bridge GPS outages for INS/GPS integrated navigation[J]. IEEE Sensors Journal, 2022, 24 (9): 8974- 8985.
6	MA Z X , CHOI J , YANG L , et al. Structural displacement estimation using accelerometer and FMCW millimeter wave radar[J]. Mechanical Systems and Signal Processing, 2022, 182, 109582.
7	WANG C M , ZHAO X H , LI Z . DCS-CTN: subtle gesture recognition based on TD-CNN-transformer via millimeter wave radar[J]. IEEE Internet of Things Journal, 2023, 10 (20): 17680- 17693. doi: 10.1109/JIOT.2023.3280227
8	CAO Z P , DING W , CHEN R H , et al. A joint global-local network for human pose estimation with millimeter wave radar[J]. IEEE Internet of Things Journal, 2023, 10 (1): 434- 446. doi: 10.1109/JIOT.2022.3201005
9	ZHANG Z Y , QIU Z R , HU W C , et al. Research on wingtip distance measurement of high-speed coaxial helicopter based on 77 GHz FMCW millimeter-wave radar[J]. Measurement Science and Technology, 2023, 34 (8): 085111. doi: 10.1088/1361-6501/acc5fd
10	ELKHOLY M , ELSHEIKH M , El-SHEIMY N . Radar/INS integration and map matching for land vehicle navigation in urban environments[J]. Sensors, 2023, 23, 5119. doi: 10.3390/s23115119
11	ELKHOLY M , ELSHEIKH M , El-SHEIMY N . Analysis and application of geometric dilution of precision based on altitude-assisted INS/SAR integrated navigation[J]. IEEE Trans.on Instrumentation and Measurement, 2021, 70, 9501010.
12	MENG Y , WANG W , HAN H , et al. A vision/radar/ INS integrated guidance method for shipboard landing[J]. IEEE Trans.on Industrial Electronics, 2019, 66 (11): 8803- 8810. doi: 10.1109/TIE.2019.2891465
13	吴枫, 秦永元, 张金亮. 极区内基于雷达辅助的SINS空中对准算法[J]. 西北工业大学学报, 2014, 32 (1): 131- 136.
	WU F , QIN Y Y , ZHANG J L . In-flight alignment algorithm for radar aided SINS in polar regions[J]. Journal of Northwestern Polytechnical University, 2014, 32 (1): 131- 136.
14	SINGH B, MENGHAL P M, SURI N. Integration of INS and GPS for radar aided inertial navigation system[C]//Proc. of the IEEE 7th International Conference for Convergence in Technology, 2022.
15	徐博, 王连钊, 吴雯昊, 等. 基于雷达测距与角位置辅助的SINS空中对准方法[J]. 中国惯性技术学报, 2019, 27 (5): 573- 579.
	XU B , WANG L Z , WU W H , et al. SINS alignment method in air based on slant and angle position assisted by radar[J]. Journal of Chinese Inertial Technology, 2019, 27 (5): 573- 579.
16	赵薇, 王楠, 高显忠, 等. 基于增广粒子滤波算法的毫米波雷达/GPS/INS组合导航方法研究[J]. 光电与控制, 2016, 23 (6): 54- 59.
	ZHAO W , WANG N , GAO X Z , et al. Millimeter-wave radar/GPS/INS integrated navigation system and its application in UAV autonomous landing[J]. Electronics Optics & Control, 2016, 23 (6): 54- 59.
17	ZENG Y H, ZHAO J, HAN H, et al. INS error correction method based on passive radar angle tracking information[C]//Proc. of the 2nd International Conference on Frontiers of Sensors Technologies, 2017: 417-420.
18	ELKHOLY M, ELSHEIKH M, El-SHEIMY N. Radar/INS integration for pose estimation in GNSS-denied environments[C]//Proc. of the International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, 2022: 137-142.
19	周峰, 梁禄扬, 林平. 协方差交叉融合的惯性/卫星/雷达组合导航研究[J]. 航天控制, 2021, 39 (4): 22- 27. doi: 10.3969/j.issn.1006-3242.2021.04.003
	ZHOU F , LIANG L Y , LIN P . Research on INS/GNSS/radar integrated navigation with covariance intersection fusion[J]. Aerospace Control, 2021, 39 (4): 22- 27. doi: 10.3969/j.issn.1006-3242.2021.04.003
20	KLEIN K T J , UYSAL F , CUENCA M C , et al. Motion estimation and improved SAR imaging for agile platforms using omnidirectional radar and INS sensor fusion[J]. IEEE Trans.on Aerospace and Electronic Systems, 2023, 59 (1): 153- 171. doi: 10.1109/TAES.2022.3190459
21	XU J L , JU Y S . Brushless DC motor control research based on extended Kalman filter algorithm[J]. Proceedings of SPIE, 2022, 574- 578.
22	WU Q Y , JIA Q Z , SHAN J Y , et al. Angular velocity estimation based on adaptive simplified spherical simplex unscented Kalman filter in GFSINS[J]. Proc IMechE Part G: J Aerospace Engineering, 2014, 228 (8): 1375- 1388. doi: 10.1177/0954410013492255
23	GONG X L , DING X S . Adaptive CDKF based on gradient descent with momentum and its application to POS[J]. IEEE Sensors Journal, 2021, 21 (14): 16201- 16212. doi: 10.1109/JSEN.2021.3076071
24	WANG J W , CHEN X Y , LIU J G , et al. A robust backtracking CKF based on Krein space theory for in-motion alignment process[J]. IEEE Trans.on Intelligent Transportation Systems, 2023, 24 (2): 1909- 1925.
25	MA Y, LI M Y. A neural network aided CKF algorithm for SINS/GN integrated navigation system[C]//Proc. of the International Conference on Guidance, Navigation and Control, 2020: 1637-1648.
26	ARASARATNAM I , HAYKIN S . Cubature Kalman filters[J]. IEEE Trans.on Automatic Control, 2009, 54 (6): 1254- 1269. doi: 10.1109/TAC.2009.2019800
27	LI D G , WU Y Q , ZHAO J M . Novel hybrid algorithm of improved CKF and GRU for GPS/INS[J]. IEEE Access, 2020, 8, 202836- 202847. doi: 10.1109/ACCESS.2020.3035653
28	QIAO M Y , GAO Y F , LI W N , et al. Attitude estimation of MEMS-IMU based on fuzzy robust adaptive CKF algorithm[J]. Journal of Chinese Inertial Technology, 2022, 30 (3): 296- 303.
29	LU H, HAO S Y, PENG Z Y. Simplified 5th-degree multiple fading CKF for GPS/INS integrated navigation system[C]//Proc. of the 37th Chinese Control Conference, 2018: 4938-4945.
30	石桂欣, 鄢社锋, 刘宇. 水下目标跟踪的改进非线性滤波快速算法[J]. 应用声学, 2020, 39 (1): 90- 96.
	SHI G X , YAN S F , LIU Y . Improved simplified unscented/cubature Kalman filter algorithm for underwater target tracking system[J]. Journal of Applied Acoustics, 2020, 39 (1): 90- 96.

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

[1]	Minglong ZHANG, Yulin WU, Wenqiang WEI, Yuanjie SHEN, Shisheng GUO, Guolong CUI. High resolution angle measurement method for cascaded millimeter wave radar based on sparse matrix completion [J]. Systems Engineering and Electronics, 2024, 46(8): 2629-2640.
[2]	Kaidi JIN, Hongzhou CHAI, Chuhan SU. Equivalence analysis between DVL/SINS loosely and tightly coupled systems and improved virtual beam-aided tightly coupled algorithm [J]. Systems Engineering and Electronics, 2024, 46(6): 2107-2116.
[3]	Yue LENG, Sheng ZHONG. Compensation method for gravity disturbance in celestial/inertial integrated system [J]. Systems Engineering and Electronics, 2024, 46(4): 1357-1363.
[4]	Xinyu LI, Zhaofa ZHOU, Zhili ZHANG, Shiwen HAO, Zhe LIANG. Deviation of vertical measurement method based on SINS/OD misalignment angle observation [J]. Systems Engineering and Electronics, 2024, 46(3): 1067-1074.
[5]	Hongqiong TANG, Jiangning XU, Wence SHI, Hongyang HE, Fangneng LI. Davenport quaternion DVL calibration method based on position observation information [J]. Systems Engineering and Electronics, 2023, 45(11): 3640-3648.
[6]	Tiangao ZHU, Yong LIU, Kailong LI, Renjie ZHAO. Analysis and comparison of Euler angles based-error model based on Lie groups of the strapdown inertial navigation system [J]. Systems Engineering and Electronics, 2023, 45(10): 3265-3273.
[7]	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.
[8]	Yingying JIANG, Shuguo PAN, Fei YE, Wang GAO, Chun MA, Hao WANG. Approach for detection of slowly growing fault based on robust estimation and improved AIME [J]. Systems Engineering and Electronics, 2022, 44(9): 2894-2902.
[9]	Yiping DONG, Ning LIU, Zhong SU, Jingxiao WANG, Hongyang BAI. Integrated navigation method of high-speed spinning flying bodybased on AEKF [J]. Systems Engineering and Electronics, 2022, 44(6): 1977-1983.
[10]	Wenhua LI, Lixin WANG, Qiang SHEN, Can LI, Zongshou WU. MEMS-INS/GNSS/VO integrated navigation method based on robust EKF [J]. Systems Engineering and Electronics, 2022, 44(6): 1994-2000.
[11]	Shuguang SUN, Qixin WEN. Aircraft height optimization algorithm of integrated navigation in terminal area based on height anomaly compensation [J]. Systems Engineering and Electronics, 2021, 43(9): 2612-2619.
[12]	Zhe WEN, Hongwei BIAN, Heng MA, Tao ZANG. Simulation test method of inertial navigation polar performance at middle and low latitudes [J]. Systems Engineering and Electronics, 2021, 43(9): 2620-2627.
[13]	Renjie ZHAO, Baiqing HU, Xu LYU, Jiayu TIAN. Filtering algorithm of UKF integrated navigation based on dual-Euler angles [J]. Systems Engineering and Electronics, 2021, 43(7): 1912-1920.
[14]	Baojie CAI, Lei SHAO. Robust filtering algorithm based on three discriminant domain and least squares fitting [J]. Systems Engineering and Electronics, 2021, 43(5): 1346-1353.
[15]	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.

Airborne inertial navigation system/radar integrated navigation method based on dual-mode switching

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 11

References 30

Related Articles 15

Recommended Articles

Metrics

Comments