SINS/GNSS自适应SRCKF直接式组合导航方法

Adaptive SRCKF Direct Integrated Navigation Method for SINS/GNSS Frame

针对动基座发射条件以及高动态、强干扰的运动环境下飞行器组合导航系统由于外界干扰导致滤波精度下降和鲁棒性差的问题,研究了一种发射惯性系下SINS/GNSS自适应SRCKF直接式组合导航方法。首先基于发射惯性坐标系构建了SINS/GNSS直接式组合导航模型,然后采用残差卡方检验法对量测信息失准情况进行判别,最后将衰减因子引入SRCKF算法中,自适应的在线调整滤波器的观测误差协方差阵以提升滤波精度。仿真结果表明:在量测噪声变化的情况下,相比于常规SRCKF组合导航算法,自适应SRCKF直接式组合导航算法位置、速度精确明显提升,可有效提升飞行器组合导航系统精度和鲁棒性。

To solve the problems of filtering accuracy decline and poor robustness of aircraft integrated navigation system under the launching condition of moving base and the moving environment with high dynamic and strong disturbance,an adaptive SRCKF direct integrated navigation method for SINS/GNSS is developed.Firstly,a SINS/GNSS direct integrated navigation model was constructed based on the launch inertial frame,and the residual chisquare test was used to identify the misalignment of measurement information.Finally,the attenuation factor was introduced into the SRCKF algorithm,and the observation error covariance matrix of the filter was adjusted online adaptively to improve the filtering accuracy.The simulation results show that compared with the conventional SRCKF integrated navigation algorithm,the accuracy of position and speed of the adaptive SRCKF direct integrated navigation algorithm are significantly improved under the condition of measuring noise changes,which can effectively improve the accuracy and robustness of the integrated navigation system of aircraft.