CAJ | 학술논문

针对传统惯性/天文多星组合导航的不足和导航星选取不确定性，设计了一种基于捷联惯性/天文单星深度组合的长航时自主导航系统，通过对惯性导航和二维转台单星观测的误差特性进行建模，综合两者的优点，实现了单星观测角度和惯导解算数据的高精度融合；在高度通道方向，引入气压高度计对高度误差进行阻尼，通过卡尔曼滤波器对惯导误差进行最优估计，运用可观测性理论对系统进行分析，得到了最优导航星选取准则，有效地解决了在部分观测角度下算法性能下降的问题。仿真结果表明：该算法长时间导航定位精度优于传统算法，最优导航星选取准则有效地提高了算法的鲁棒性，具有较高的理论研究意义和工程应用价值。
침대전통관성/천문다성조합도항적불족화도항성선취불학정성，설계료일충기우첩련관성/천문단성심도조합적장항시자주도항계통，통과대관성도항화이유전태단성관측적오차특성진행건모，종합량자적우점，실현료단성관측각도화관도해산수거적고정도융합；재고도통도방향，인입기압고도계대고도오차진행조니，통과잡이만려파기대관도오차진행최우고계，운용가관측성이론대계통진행분석，득도료최우도항성선취준칙，유효지해결료재부분관측각도하산법성능하강적문제。방진결과표명：해산법장시간도항정위정도우우전통산법，최우도항성선취준칙유효지제고료산법적로봉성，구유교고적이론연구의의화공정응용개치。
In allusion to the deficiencies of traditional inertial celestial integrated algorithm and selection uncertainty of the NAVSTAR, an algorithm based on SINS/CNS deeply integrated navigation with single star was proposed in this paper for the navigation system of long duration aero crafts. The error characteristics of inertial navigation and the star observation of two-gimbal were modeled exactly, and the advantages of both were analyzed and synthesized, the data of single star observation angle and inertial navigation was fused with high accuracy completely. In the height channel, barometric altimeter was introduced for altitude error damping. The design of the Kalman filter achieved optimal estimation of INS error. With analysis of the system observability, optimal NAVSTAR selection criteria was successfully brought out, effective solution to the problem of declining performance of the algorithm in the part of the observation angle was solved effectively. The simulation results of the algorithm show that the long positioning accuracy is better than traditional algorithm. Optimal NAVSTAR selection criteria effectively improve the robustness of the algorithm, which has a higher significance to theoretical study and engineering application value.