脉冲星/CNS组合导航算法

Pulsar/CNS Integrated Navigation Algorithm

为实施"单脉冲星自主导航"计划,提出了一种新的脉冲星/CNS组合导航方法。该算法利用测量的脉冲TOA(到达时间)与预报的脉冲TOA之差和星光角距作为观测量,使用基于增广状态法的UKF消除预报TOA中常值偏差的影响,从而获得高精度的卫星位置信息。实验结果表明,位置估计精度约为114 m(1σ),速度估计精度约为0.113 m/s(1σ)。从可观测性分析可知,该导航系统具有完全可观测性和高可观测度。

In order to implement ＂Single Pulsar for Automatic Navigation＂ project, a novel pulsar/CNS integrated navigation method is presented. In this method, the difference between the measured pulse TOA （time-of-arrival） and the predicted pulse TOA and the starlight angular distance are used as measurements. UKF （unscented Kalman filter） based on the augmented state method is adopted to eliminate the effect of bias in the predicted TOA, and the highly accurate position information for satellite is obtained. The simulation results show that the position estimation accuracy is about 114 m （1σ）, and the velocity estimation accuracy is about 0.113 m/s （1 σ）. From the observability analysis, it can be seen that this navigation system has a completely observability and a high degree of observability.