发射系下SINS/GPS组合导航系统的算法研究

Study of Algorithm for SINS/GPS Integrated Navigation System in Launch Inertial Coordinate System

基于地理坐标系下的传统捷联惯性导航系统无法直接获取发射系下的导航参数,难以满足空天飞行器等高轨道飞行器对高精度、高可靠性导航系统的需求,研究了发射系下捷联惯性导航算法。搭建了基于扩展卡尔曼滤波(EKF)的SINS/GPS组合导航模型,传感器获取的导航量测信息直接在发射系下进行捷联惯导解算,为飞行器等提供位置、姿态等信息。采用STM32、XSENS惯性器件和GPS接收机构建相应的算法验证平台。实验结果表明:发射系下的SINS/GPS组合导航系统能提供较高的导航精度,从而验证了发射系下的SINS/GPS组合导航系统算法的正确性与合理性。

Traditional strapdown inertial navigation algorithm based on geography coordinate system can not directly obtain the navigation parameters under launch inertial coordinate system. It’s difficult for high orbiters such as aerospace vehicles to be provided with high precision, high reliability navigation system. Therefore, this paper carried out a research on the strapdown inertial navigation algorithm under launch inertial coordinate system and established SINS/GPS inertial navigation model on the basis of extended Kalman filter. The navigation measurement information obtained by the sensors under launch inertial coordinate system was directly used to calculate position and attitude of the aircraft. To verify the validity of the integrated navigation algorithm, the hardware platform based on XSENS inertial device, GPS receiver and STM32 embedded system was established. Experimental results indicated that the SINS/GPS integrated navigation system under launch inertial coordinate system can achieve higher navigation precision. Thus algorithm proposed in this paper is valid and reasonable.