用于单站实时测控系统的航向估计和卡尔曼滤波方程

The Course Estimating Method and the Kalman Filtering Equations Used for Single Station Remote System

一种不依赖卫星导航的、仅利用地面数传设备所附加的测距功能和机载简易导航设备所提供的磁航向、高度等参量来确定所测控飞行器航迹的单站定位系统已被研究。本文主要研究了用于此种单站定位系统的航迹跟踪方法。作为分析的基础,本文首先分析了由径向距离和直线飞行距离所构成的测距三角形的解;然后分别描述了坐标平移和坐标旋转两种航向估计方法;最后给出了适用的卡尔曼滤波方程组。

A new single station loeator device has been researched, which can determine the flight path of the remoted robot plane utilized by the distance finding function with the ground tracking equipment and parameter （magnetic course and altitude） given by aerial navigation equipment. In this paper, firstly, the solution of the ranging triangle contained by radial range and linear of flight is analyzed, Then, two course estimating methods are described. Finally, the Kalman filtering equations suitable for this kind ofmonostatic locator system are given.