利用惯导信息稳定性的导航误差间接修正方法

Navigation System Error Indirect Correction using Inertial Navigation System's Information Stability

针对惯导累积误差修正受限于外部传感器量测精度的问题,提出了一种惯导信息与外部传感器量测信息数据融合的误差修正方法:利用惯导信息输出短时间内的高稳定特性,通过对修正前的惯导信息、外部传感器量测信息进行数据融合,获得惯导累积误差估计,进而对惯导系统进行修正,修正后的惯导定位精度远高于传感器量测精度。文中以导弹飞行中段利用导引头量测信息修正惯导为例,详细讨论了惯导信息与外部传感器量测信息的数据融合方法,仿真试验结果表明该方法的合理有效性。

The performance of conventional Inertial Navigation System （INS） augmentation approach is subject to the accuracy of external aiding sensors, for which the accumulated INS error couldn＇t be fully eliminated. A novel INS correction method is proposed, which take the advantage of high stability of INS solution in short-term. INS error was estimated by data fusion of INS output without aiding and external sensor measurements, and it was then applied in INS augmentation. The location accuracy of INS was enhanced in comparison with sensor accuracy. A representative scenario, augmenting INS using the radar seeker measurement during missile midcourse flight, was then discussed to help explain this novel aiding method using data fusion method. Lastly, the validity of proposed approach in INS ai- ding was then tested by simulation.