巡航导弹INS/视觉组合导航方法

INS/Vision Cooperative Navigation Method for Cruise Missile

巡航导弹仅依靠惯性导航系统进行导航时,其导航误差将随着时间的累积不断变大。INS/GPS是最常用的组合导航方式,但存在战时不可用的缺陷。为此提出了一种基于EKF的巡航导弹INS/视觉组合导航方法。利用巡航导弹相对于单个已知点地标的视觉信息(方位角和高度角)和高度信息,巡航导弹INS的位置和速度误差能够同时被估计出来。最后,仿真验证了该方法的有效性。

In absence of other navigation systems,cruise missile INS error will cumulate continuously with time. And Global Positioning System information is not always available since it relies on external satellite signals. So,this paper proposes a novel vision aided INS error estimation method based on Extended Kalman Filter（ EKF）. Using the vision information from the cruise missile to single known target and altimeter information,cruise missile INS position error and velocity error are estimated simultaneously. Simulation results verify the effectiveness of this method.