基于虚拟视线交会的飞航导弹INS误差修正方法

针对飞航导弹惯性导航系统(INS,Inertial Navigation System)单独使用时存在位置和速度估计误差发散的问题,在不需要弹目距离信息的情况下,提出了一种基于对航路上单个已知地标连续、被动观测的INS误差修正方法.根据导弹与地标间的相对运动关系,采用虚拟视线交会的方法,将问题转化为多虚拟地标协同定位导弹问题.在此基础上,利用最小二乘思想,实现了导弹位置的有偏估计.以估计得到的有偏位置信息和基于大气系统得到的INS速度误差大小作为观测量,应用考虑系统误差估计补偿的卡尔曼滤波,实现了导弹位置和速度的无偏估计.仿真结果验证了方法的有效性.

INS error modification method based on pseudo line-of-sights intersection for cruise missile

In absence of other navigation systems, cruise missile inertial navigation system (INS) error cumulates continuously with time. To solve this problem, a novel INS error modification method was proposed based on continuous observation to single known feature target without the need of distance information. According to the relative relation between cruise missile and feature target, the INS error modification problem was transferred into the problem of multiple pseudo feature targets locating cruise missile cooperatively by using the pseudo line-of-sights intersection method. Then the cruise missile biased position was estimated by the least squares algorithm. Treating the biased position and atmosphere system information as the observation, unbiased estimation of cruise missile position and velocity were realized with application of Kalman filter which can simultaneously estimate state and system error with direct feedthrough. Simulation results show that this method can modify INS position error and velocity error effectively.