一种用于舰船CNS/RLG-SINS组合导航系统校准的分段估计方法研究

分析了“天文测姿+惯性导航”组合导航滤波模型的可观测性问题,在状态不完全可观的条件下,提出采用分段滤波的方法可以分别对加速度计误差和陀螺漂移误差进行有效估计,此方法仅要求每段滤波开始前外部提供一次准确的初始位置和速度信息。结合舰载导航需求背景,设计仿真模型。仿真结果表明：采用分段滤波方法,加速度计常值偏置和陀螺常值漂移均可以得到充分估计;对惯性器件误差进行标校、补偿后,24小时的位置误差可由补偿前的3.6海里减小到补偿后的0.5海里。     

Propagation and System Accuracy Impact of Major Sensor Errors on a Strapdown Aircraft Navigator

A strapdown system is considered as an unaided inertial navigator aboard an aircraft. Presented here are simulation results detailing the propagation of navigation errors (in nautical miles) due to strapdown sensor errors for four trajectories. They indicate the type of performance that can be expected from a strapdown system utilizing good ?off the shelf? gyros and accelerometers, and dramatically illustrate the improvements necessary in these components to obtain navigation performance comparable to that available from a good gimballed inertial system. The total navigation error for each trajectory is broken down to show the contribution from each of the various error sources. This breakdown quickly reveals which are the critical error sources for a given trajectory class, and also points up the relationship that exists between each individual error source, aircraft maneuvers, and the resulting navigation error. Several of the error mechanisms are discussed at length and a set of linearized differential equations which can be used to analyze error propagations is presented. These results should be of particular interest to the system designer who is faced with the problem of specifying the sensor error parameters necessary to meet mission performance requirements. With an analysis similar to the one presented here, but structured around his own expected mission trajectories, the designer should be able to confidently predict system accuracies and intelligently perform tradeoffs on the critical system parameters.     

System Considerations for the New DME/P International Standard

The International Civil Aviation Organization (ICAO) has completed technical standards for the precision distance measuring equipment (DME/P). The DME/P is an integral element of the microwave landing system (MLS) and will provide the precision ranging function to complement the already standardized azimuth and elevation guidance functions of the system. In 1978 an ICAO meeting concluded that the DME/P should be integrated into the existing standards for the conventional DME (DME/N) as a compatible service. The motivation for this was economic. It was reasoned that a single L-band airborne unit could satisfy the need for both existing enroute and the new precision approach and landing services, thereby avoiding unnecessary duplication of on-board ranging equipment. Furthermore, this approach would permit existing conventional airborne equipment to obtain service from the new DME/P ground facilities at least during the initial stages of MLS implementation. These compatibility requirements were later incorporated into the DME/P statement of operational requirements which was accepted at an ICAO meeting in April 1981. Further, they have been a primary focus in the DME/P standardization effort which has been actively pursued since late 1980. The conceptual design of the DME/P that evolved from the ICAO process is discussed here. The comptability issues are highlighted, and it is shown how they are accommodated in the system synthesis which also treats the obvious need for a guidance function of high integrity and robust performance in the severe multipath environment encountered in approach and landing operations.     

CTACTS Charleston Tactical Aircrew Combat Training System

This paper presents an overview of the Ocean Engineering and Construction Project Office (FPO-1) of the Chesapeake Division, Naval Facilities Engineering Command design and construction of eight ocean towers. These towers are for the Charleston Tactical Aircrew Combat Training System (CTACTS). The offshore portion of the CTACTS provides the necessary facilities to accurately monitor and control the training of Navy, Marine Corps, and Air Force pilots, during aerial warfare training exercises. These offshore facilities are located 30 to 72 nautical miles east of northern Georgia in water depths ranging from 81 to 143 feet. In June, 1984, FPO-1 awarded the ocean tower design contract to Brown & Root Development, Inc. The final design was completed in August, 1985 and in January, 1986, FPO-1 awarded a contract to McDermott Marine Construction to fabricate and install the platforms. The installation is scheduled to be completed by mid-September, 1986.     

On the Acquisition Time for an Apollo Ranging Code

An Apollo ranging system is considered whose phase reference is obtained by a phase-locked loop for bit synchronization. The bit phase reference is noisy, and the error probability for the ranging code is shown to depend on the input signal energy per bit to noise density ratio. The procedure of computing the acquisition time for the ranging code is then presented and the acquisition time for a lunar ranging code is plotted versus the input signal-to-noise density ratio.     

Dual Speed PN Ranging System for Tracking of Deep Space Probes

A new pseudonoise (PN) ranging system is proposed for trackingof deep space probes, named the dual speed PN ranging system,that transmits two different PN sequences simultaneously through a PSK/PSK (phase-shift keying) dual speed communication channel.The dual speed PN ranging system improves the maximummeasurable range significantly, with no degradation of theacquisition time, when compared with usual PN ranging systems.According to the analysis, the tracking error of this system becomesas small as those of usual PN ranging systems when the inputsignal-to-noise ratio (SNR) is large enough.     

深空测控再生伪码测距技术研究

针对深空测控任务中低信噪比情况下的航天器高精度测距问题,对再生伪码测距技术进行论述。介绍再生伪码测距技术原理,再生伪码测距通过再生方式消除信号上行链路噪声,提高了信噪比,但需要复杂的相关器;分析再生伪码测距采用的陶思沃斯码结构,详细论述再生伪码测距信号的地面上行、星上再生、地面下行处理过程,重点介绍各处理过程中的指标条件,并对再生伪码测距进行误差分析;重点对比分析再生伪码测距与传统透明转发测距,指出前者适合于深空低信噪比条件下的高精度测距,后者适用于近地高信噪比条件下的测距。     

Pulse-Position Modulation Based on Energy Detection

A pulse-position modulation (PPM) system based on energy detection is described. The system is shown to be applicable to a communication system in which the arrival times of signals are unknown. The decision statistics are chisquare distributed (either central or noncentral), and recursive methods of computing probabilities of error are derived. A simple digital processor for implementing the system is also described.     

Extended Area Range Instrumentation System Utilizing DME Links

Updated and expanded range instrumentation installations require a system capable of actually tracking and controlling large numbers of vehicles over expanded areas. A range instrumentation system is discussed based on distance measurement equipment (DME) coupled with high performance data links which satisfies these requirements. Previously developed DME systems utilized a single frequency data link, required a low sample rate, and accomodated only a few vehicles. The DME range instrumentation system described will handle a large number of test vehicles and accomodate high data rates without performance degradation. This is accomplished by incorporating surface acoustic wave (SAW) devices and microprocessors with previous developed technology. A system performance analysis for various configurations of the range instrumentations system design is also presented.     

Advances in Low-Frequency Radio Navigation Methods

Advances in the analysis and design of low-frequency radio navigation systems are presented in four sections detailing system design, propagation, receivers and processors, and error analyses. Emphasis is on the short-baseline case where radial accuracies of 114 feet are possible for non-line-of-sight operation to ranges of 50 miles from transmitters. Possibel future applications for LF include an efficient solution for commercial ground transportation management, remotely piloted vehicle navigation, and cruise missile guidance. An error budget and experimental results are included plus a countermeasures analysis.     

Optical Ranging System Employing a High Power Injection Laser Diode

For many military applications small, lightweight range finders are required that operate at a high pulse repetition rate. It will be shown that a ranging system with an injection laser in the transmitter can fulfill these requirements. The performance of an optical ranging system employing a pulsed gallium arsenide laser diode transmitter, with peak powers up to 100 watts at room temperature is described. After a brief review of fundamental system parameters, calculations of the range capability of the system are given, based upon the Poisson distribution of photoelectron statistics. A discussion is presented on the experimental support of theoretical analysis.     

Multi-objective approach in GNSS code discriminator design

In spread spectrum ranging system receivers such as the Global Navigation Satellite System (GNSS) receivers, a discriminator is used in the code tracking loop to provide an error signal for the tracking of incoming signals. Typically, the discriminator manipulates several correlator outputs to form the correction signal. A multi-objective approach is adopted here to design the coefficients associated with a multi-correlator-based discriminator to lead to a better performance tradeoff in large tracking range, acceptable multipath-induced bias, high sensitivity, free of ambiguity, and small variance. It is shown that the multiple-objective problem can be tackled via a quadratic/linear programming method, rendering the optimal coefficient vector for the implementation of the discriminator. In addition, as the discriminator design is often subject to conflicting requirements, it is shown that the proposed design approach is capable of establishing bounds on achievable performance. Examples with respect to BPSK (binary phase-shift keying) NRZ (nonreturn-to-zero), and BOC (binary-offset carrier) signals are given to illustrate the design approach.     

Analysis and design optimization of monopulse receivers forsecondary surveillance radar

The sensitivity to calibration and component errors of the receiver configurations used for monopulse processing of secondary surveillance radar (SSR) replies is analyzed. The effects of video gain error in amplitude processors and large Gaussian perturbations in phase processors are discussed. Phase processors are shown to be robust to variations in antenna difference pattern null depth. A half-angle phase processor that yields the benefits of phase processing without the sensitivity to system errors associated with conventional implementations is described     

Principles and Simulation of JTIDS Relative Navigation

The time-synchronous operation and high accuracy time-of arrival (TOA) measurement capability of Joint Tactical Information Distribution System (JTIDS) terminals makes possible a high performance relative nagivaton (RELNAV) function through addition of only software in the terminal's computer program. The principles of operation, the basic observation equations, and the system architecture for both absolute (geographic) and relative navigation are described. Sequential passive ranging by means of the TOA measurements, in conjunction with appropriate source selection logic and a recursive (e. g., Kalman) filter mechanization are employed to determine the user's position, velocity, and time bias. The filter algorithms and error sources, the software functional flow, and some simulation results are presented.     

Laser Ranging Capability as Affected by System Pointing Error

This paper discusses the interrelationships among the ranging capability of a laser ranging system, the beamwidth of the transmitter, and the system pointing error. Since, in general, the system pointing error is statistical, the probability of successful ranging can be determined by means of these interrelationships, as is illustrated in a detailed analysis of a laser ranging system in which a gimbaled mirror is employed as an optical relay.     

The AN/APS-6 radar

The AN/APS-6 radar was to scan a 1200 coneshaped volume ahead of the aircraft flight path in selected ranges of five, 25 and 65 miles for radar search, with the maximum range extended to 100 miles for radar beacon. When within one-half mile of a selected target, the set could be switched to the gun aim mode for accurate aim-and-fire of the six 50-caliber aircraft guns. The design, installation and protection of this radar are described     

Comparison of SDINS in-flight alignment using equivalent errormodels

The psi-angle model and the equivalent tilt (ET) model have been widely used for in-flight alignment (IFA) to align and to calibrate a strapdown inertial navigation system (SDINS) on a moving base. However, these models are not effective for a system with large attitude errors because the neglected error terms in the models degrade the performance of a designed filter. In this paper, with an odometer as an external aid, a velocity-aided SDINS is designed for IFA. Equivalent error models applicable to IFA with large attitude errors are derived in terms of rotation vector error and additive and multiplicative quaternion errors. It is found that error models in terms of additive quaternion error (AQE) become linear. Thus the proposed error models reduce unmodeled error terms for a linear filter. From a number of van tests, it is shown that the proposed error models effectively improve the performance of IFA     

非视距误差神经网络改正的超宽带定位模型研究

非视距环境是造成超宽带定位系统精度下降的主要原因。由于非视距环境的测距精度下降难以通过常规计算方法建立改正模型,提出了一种基于反向传播算法的神经网络改正的超宽带稳健定位模型。该方法通过反向传播神经网络的自适应学习方法建立了一种超宽带非视距误差改正的稳健定位模型,实现了在非视距环境下超宽带定位精度的提升。首先采集非视距环境下超宽带测距值,提取超宽带在非视距环境下的坐标序列,计算得到误差序列,然后通过反向传播神经网络建立误差改正模型预测得到标签的误差改正值,最后使用超宽带Kalman滤波定位模型进行超宽带定位,从而消除非视距环境对定位精度的影响。通过对比实验分析,本模型较多项式拟合模型超宽带测距精度提高46.8%,定位精度提高43.4%;较多面函数拟合模型超宽带测距精度提高28.2%,定位精度提高26.2%。实验结果表明,反向传播算法的神经网络对超宽带非视距定位模型的误差改正有很好的效果,对超宽带定位精度的改正效果显著。     

A new high performance multipurpose satellite tracking system

The European Space Agency's (ESA) multipurpose satellite tracking system is introduced. The system is able to perform accurate satellite ranging and Doppler measurements for a variety of mission types, i.e., from near-Earth satellites to deep space probes. The ranging signal is analyzed and described in an analytical manner from which the limits of the system performance are derived. A model of the overall system is presented and a few simulation results obtained thereby are compared with measurements performed with the ESA's Giotto and Hipparcos scientific missions     

Comparison of motion and stereo methods in passive ranging systems

The authors compare the estimates in passive ranging systems using motion and stereo approaches. It is shown that an integrated approach is necessary to provide better range estimates over a field-of-view (FOV) of interest in helicopter flight. The recursive approach for processing a sequence of stereo images, described together with a recursive motion algorithm (RMA), provides the basis for an integrated method to provide more accurate range information. Results based on motion sequences of stereo images are presented