一种无卫星辅助的制导弹药滚转角误差修正算法

A Correction Algorithm for Roll Angle Error of Guided Ammunition Without Satellite Assistance

针对海军舰载制导弹药MEMS惯导系统在卫星失锁后滚转角误差较大的问题,提出了一种不依赖卫星的制导弹药误差修正算法。根据弹体高速旋转时的定轴性使得短期内弹体侧向位移为零的特点,建立了弹体发射坐标系导航误差方程。利用自适应扩展Kalman滤波估计与修正卫星失效条件下的滚转角误差。为了检测并抑制量测突变引起的随机误差,使用自适应因子来调整滤波器参数。车载模拟试验和弹道仿真结果表明,10s对准时间内,滚转角误差能够收敛到0.5°以内,满足制导弹药控制精度的要求,降低了制导弹药飞行过程中对卫星导航的依赖,提高了系统的自主性。

Aimed at the problem of the large roll angle error of the naval ship-based guided ammunition MEMS inertial navigation system after the satellite is out of lock,an error correction algorithm for guided ammunition independent of satellite is proposed.According to the fact that the lateral displacement of the ammunition is zero in a short period of time due to the axis determination of the ammunition in high-speed rotation,the navigation error equation of the launch coordinate system of the ammunition is established.The adaptive extended Kalman filter is used to estimate and correct the roll angle error under the condition of satellite failure.In order to detect and suppress the random error caused by measurement mutation,the adaptive factor is used to adjust the filter parameters.Vehicle simulation tests and ballistic simulation results show that the proposed method can significantly increases the attitude precision without satellite assistance,the rolling error can be reduced to less than 0.5°in 10 seconds,which meets the control accuracy requirements of guided ammunition.The proposed method can reduce the dependence on satellite navigation in flight and improve the autonomous of the system.