SINS/GNSS卡尔曼滤波组合导航技术在运载火箭上应用研究

Research on Launch Vehicle of SINS/GNSS Kalman Filter Integrated Navigation Technology

为提高运载火箭导航精度,研究了基于发射点惯性坐标系中的捷联惯组/全球卫星导航系统(SINS/GNSS)组合导航系统,给出了SINS/GNSS组合导航系统组成,建立了速度与位置等状态模型,以及卡尔曼滤波滤波模型,采用速度、位置反馈修正。用数值仿真、地面静态试验、地面动态试验和飞行试验进行验证,结果表明:设计的组合导航系统的速度导航误差小于0.4m/s,位置导航误差小于30m,飞行试验结果半长轴偏差达百米级,表明GNSS能有效修正SINS的导航误差,提高运载火箭入轨精度。

In order to improve the navigation accuracy of launch vehicle,SINS/GNSS integrated navigation system based on launch inertial coordinate was studied in this paper.The integrated navigation system of SINS/GNSS was given out.The state models including velocity and position and Kalman filtering model were established,in which the modification was based on the feedback of velocity and position.The method was verified by numerical simulation,ground static test,ground dynamic test and flight test.The results showed that speed navigation error was less than 0.4m/s,the position navigation error was less than 30 mand the semimajor axis error was up to one hundred meters.The results proved that GNSS could correct SINS navigation error and improve the orbit precision of launch vehicle.