基于弱可观状态分离估计的机载灵巧弹药快速传递对准方法

Rapid Transfer Alignment for Airbone Smart Bomb Based on Separate Estimation of Weak Observable State

为了解决机载灵巧弹药微机电系统(MEMS)惯性导航传递对准时间过长、严重制约载机安全的问题,提出了MEMS陀螺零偏两点估计算法和弱可观测状态分离估计的快速传递对准算法。该方法基于对Kain等[1]提出的速度+姿态匹配快速传递算法的可观测度分析,解决了陀螺零偏弱可观测状态的分离估计。采用系统噪声变分贝叶斯-卡尔曼滤波自适应算法处理快速传递对准算法中分离估计器参数对滤波器收敛的影响。仿真和靶场试验结果表明,在2.5 s内两点估计法估计准确度至少达到88%,对应的传递对准时间缩短到8 s.

In order to solve safety the problem of aircraft due to the long transfer alignment of airborne smart bomb, the two-point estimation algorithm for MEMS gyro drift and the fast transfer alignment method based on the separate estimation of weak observable state are presented. The proposed estimation algorithm is used to separately estimate he weakly observable states of gyro zero bias based on the observability analysis of tof velocity and attitude matching method presented by Kain, et al [1] . Because of the influence of varying parameters of separate estimator, the variational Bayesian adaptive Kalman filtering algorithm is adopted to adjust the twice transfer alignment. The simulated and experimental results show that the estimating accuracy of the two-point estimation algorithm is at least 88% in 2.5 seconds, and the corresponding transfer alignment time is reduced to 8 seconds.