基于未知地标被动观测的弹群INS定位误差协同修正方法

针对弹群协同编队飞行中，编队成员单独使用惯导系统（INS）时存在定位误差发散的问题，基于相同性能的多套INS在相同环境下工作时，其误差近似呈零均值高斯分布这一特性，提出了一种利用成像导引头对航路上任一未知地标被动观测的弹群INS定位误差协同修正方法。首先，融合弹群中各枚导弹相对于地标的视线角量测信息及INS位置量测信息，利用最小二乘思想对未知地标进行协同定位；然后，基于估计得到的地标位置，利用各枚导弹相对于地标的视线角和方位角速率量测信息及INS速度量测信息，反过来修正弹群中各枚导弹的INS定位误差。最后，仿真验证了方法的有效性。

An INS Position Error Cooperative Modification Method Based on Passive Observation to Unknown Feature Target of Missile Formation

In absence of other navigation systems, INS errors of missile formation will cumulate continuously with time. According to the assumption that multiple INS errors of missile formation basically obey Gaussian distributions with zero mean, a novel INS position error cooperative modification method is proposed based on passive observation to a unknown feature target of missile formation. Firstly, the position of unknown feature target is cooperatively located by using LOS angle information and INS position. Then INS localization errors of missile formation are modified based on the estimated feature target position, LOS angle information, LOS angle rate information and INS velocity. Finally simulation results validate that this method is effective.