基于激光测距和惯导的非合作目标远程交会相对导航算法研究

Study on Noncooperative Target Long-Distance Rendezvous Relative Navigation Based on Laser Distance Measurement and Inertial Navigation

对非合作目标的远程交会,研究了一种基于激光测距和惯导的相对导航方法。给出了由激光测距仪和惯性传感器组成的相对导航系统。设计了相对导航算法:用激光测距获得的相对距离和相对方位、俯仰角度与惯导获得的姿态和位置信息,确定目标飞行器与追踪飞行器相对轨道动力学方程并进行递推,输出相对位置与速度;用激光测距输出的相对距离和相对方位、俯仰角度与惯导获得的姿态、位置信息,由卡尔曼滤波得到相对位置与速度的误差并对递推结果进行修正,修正的结果作为相对导航最终的输出。算例表明:该相对导航方法适于非合作目标远程交会,在远程交会结束时刻,相对位置误差小于1m,相对速度误差小于0.05m/s;相对导航滤波器的加速度计常值偏差估计误差明显小于绝对导航滤波器。

A relative navigation method based on laser distance measurement and inertial navigation was studied for long-distance rendezvous of noncooperatiive target in this paper.The relative navigation system was given out which composed of laser distance measurement instrument and inertial units.The algorithm of relative navigation was designed.Relative distance and azimuth and pitching would be gained from laser distance measurement.The attitude and position of source satellite would be gained from inertial navigation.The relative orbit dynamics equation could be deserved.Meanwhile,the relative position and velocity from the equation were gained.And the relative distance,relative azimuth and pitching,the attitude and position of source satellite were acquired.The error of relative position and velocity could be gained by Kalman filtering.The real navigation message from the error and the solution of relative orbit dynamics equation was acquired.The simulation results showed that this relative navigation method was suitable to long-distance rendezvous of noncooperatiive target.The error of the relative distance was less than 1mand the error of the relative velocity was less than 0.05 m/s as well as the estimation error of the constant drift for the accelerometer of the relative navigation filter was smaller than that of the absolute navigation filter at the end of long-distance rendezvous.