SINS/SAR组合导航系统中量测滞后补偿方法研究

Study on Measuring Delay Compensation Method for SINS/SAR Integrated Navigation System

针对捷联惯导(SINS)/合成孔径雷达(SAR)组合导航系统中,图像匹配耗时所造成的量测输出延迟问题,提出一种补偿量测滞后的无序量测算法。该算法首先求出滞后时刻到当前时刻的等效量测量,然后,计算追溯状态向量以及与追溯状态向量有关的协方差,对当前时刻的状态估计量进行更新,得到系统状态量的准确估计值,修正捷联惯导系统相应的状态量。将提出的滤波算法应用于SINS/SAR组合导航系统中进行仿真计算,并与不考虑量测滞后的标准卡尔曼滤波比较,结果表明,提出的新算法能够有效补偿量测的输出滞后,提高导航系统的解算精度。

In view of that image matching causes the delay of measurement output in the strapdown inertial navigation system（SINS）/synthetic aperture radar （SAR） integrated navigation system,a kind of out-of-sequence measurement method to compensate measurement delay is put forward.First of all,the equivalent measurement of lag time to the current moment is calculated,then,the retrodicted state vector and the related retrodicted state vector covariance are computed,the current state estimate value is updated,the accurate estimate of system state is gotten.At last,to fix the corresponding state of the SINS,the proposed algorithm is applied to SINS/SAR integrated navigation system and compared with standard Kalman filter.The results show that the proposed filtering method can effectively compensate measurement delay,improve the precision of navigation system.