光流/惯导多传感器信息融合方法

Optical flow/INS multi-sensor information fusion

将光流传感器多点布置在弹体上,建立了纵向平面内的弹体运动学模型和光流传感器量测模型,利用离散卡尔曼滤波器对光流信息和速率陀螺信息进行融合,估计弹体的高度、姿态和速度信息,并利用估计信息进行了超低空飞行的高度控制仿真,仿真结果表明:利用多个光流传感器和一个速率陀螺,可以准确地、实时地估计出弹体的高度、垂直速度、俯仰角、俯仰角速度和攻角等信息,并可利用这些信息实现导弹的超低空突防任务.

Several optical flow sensors were mounted dispersedly on a missile airframe.The airframe kinematics model in the vertical plane and the optical flow sensor measurement model were established.Discrete-time Kalman filters were used to fuse the optical flow data and rate gyroscope data,and estimate the altitude,attitude and velocity of the airframe.A very-low altitude-holding flight simulation was then implemented based on these estimations.The simulation results indicate that several optical flow sensors and a rate gyroscope can be used to estimate the altitude,vertical velocity,pitching angle,pitching angular velocity and attack angle exactly and real-time.These estimations can help to implement very-low penetration missions.