制导炮弹用INS/GPS组合导航系统空中对准方法

Air Alignment Method of INS/GPS Integrated Navigation System for Rotary Missile

实时高精度导航信息对提高制导炮弹制导精度尤为重要,在制导炮弹发射过程中,由于高过载导致INS系统初始姿态角难以获取,导致后续空中二次对准无法完成.针对此问题,提出了GPS定位前,姿态角由弹道信息和加速度计输出获得,在GPS定位后根据速度信息提取初始俯仰、航向角,惯导初始速度、位置由GPS速度、位置给出,完成空中粗对准.由于粗对准信息高动态性能差,需要进行空中二次对准.传统INS/GPS速度+位置卡尔曼滤波利用GPS信息修正INS系统导航信息,在此基础上,将航向角、俯仰角加入观测量,提高姿态角可观测性.为验证算法的有效性,进行了跑车实验,在25s的实验过程中,证明了该算法的有效性,具有重要的工程应用价值.

Real-time high-precision navigation information is particularly important to improve the guidance accuracy of guided projectiles. In the launching process of guided projectiles, the initial attitude angle of INS system is difficult to obtain due to high overload, which results in the failure of the subsequent secondary alignment in the air. To solve this problem, it is proposed that the attitude angle is obtained from ballistic information and accelerometer output before GPS is positioned, and the initial pitch and heading angles are extracted from velocity information after GPS positioning. Inertial navigation initial velocity and position are given by GPS speed and position to complete rough alignment in the air. Because of the poor dynamic performance of coarse alignment information, secondary alignment in the air is needed. Traditional INS/GPS velocity+position Kalman filter uses GPS information to modify INS navigation information. On this basis, the heading angle and pitch angle are added to the observation to improve the observability of attitude angle. In order to verify the effectiveness of the algorithm, a sports car experiment was carried out. In the 25 seconds experiment process, the effectiveness of the algorithm was proved, which has important engineering application value.