高超声速飞行器惯性/天文鲁棒组合导航方法

对于高超声速飞行而言，惯性/天文组合导航的应用将会面临异常值干扰和噪声特性变化等问题，需要控制天文量测中异常值扰动的影响，提高对于可靠量测信息的利用效率。为此，本文研究了一种基于平衡因子的组合导航方法，采用鲁棒滤波方法进行惯性/天文组合导航系统的量测更新，将自适应滤波技术引入到鲁棒滤波中，考虑到天文量测信息不同的噪声特性和水平，将自适应因子分解为姿态自适应因子和位置自适应因子，从而平衡状态预测信息和天文测量信息的贡献。仿真结果表明，本文方法可以显著提高高动态环境影响下的组合导航性能。

INS/CNS Robust Integrated Navigation Method for Hypersonic Vehicles

For hypersonic vehicles, the application of inertial/astronomical integrated navigation will face problems such as outlier interference and noise characteristic changes. It is necessary to control the influence of outlier disturbance in astronomical measurements, thereby improving the utilization efficiency of reliable measurement information. For this reason, this paper studies an integrated navigation method based on the balance factors, which uses the robust filtering method to update the measurement of inertial/astronomical integrated navigation system, and introduces the adaptive filtering technology into robust filtering. Considering the different noise characteristics and levels of astronomical measurement information, the adaptive factor is decomposed into attitude adaptive factor and position adaptive factor, so as to balance the contribution of state prediction information and astronomical measurement information. The simulation results show that the method in this paper can significantly improve the performance of integrated navigation under the influence of highly dynamic environments.