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

Abstract

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

CLC Number:

V448.11

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)

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

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