CAJ | 학술논문

针对飞航导弹惯导系统（INS）单独使用时存在位置和速度估计误差发散的问题，从便于工程实现的角度，提出了一种基于对航路上已知地标连续、被动观测的 INS 误差估计及补偿方法。该误差估计方法以 INS 误差作为状态量，以导弹相对于地标的观测序列与 INS 估计信息解算的伪观测序列构造观测量，通过迭代求解，分两个阶段分别估计出 INS 水平通道和垂直通道误差，并利用平均去噪的思想提高了估计精度。该误差补偿方法考虑了误差估计耗时对补偿精度的影响，采用实时补偿的方式降低了精度损失。仿真结果表明：误差补偿后，飞航导弹 INS 位置估计精度收敛到3m 之内，速度估计精度收敛到0．5m／s 之内，验证了论文方法的有效性。
침대비항도탄관도계통（INS）단독사용시존재위치화속도고계오차발산적문제，종편우공정실현적각도，제출료일충기우대항로상이지지표련속、피동관측적 INS 오차고계급보상방법。해오차고계방법이 INS 오차작위상태량，이도탄상대우지표적관측서렬여 INS 고계신식해산적위관측서렬구조관측량，통과질대구해，분량개계단분별고계출 INS 수평통도화수직통도오차，병이용평균거조적사상제고료고계정도。해오차보상방법고필료오차고계모시대보상정도적영향，채용실시보상적방식강저료정도손실。방진결과표명：오차보상후，비항도탄 INS 위치고계정도수렴도3m 지내，속도고계정도수렴도0．5m／s 지내，험증료논문방법적유효성。
In absence of the other navigation system ,cruise missile INS error will be cumulated continuously with the increase of endurance .Therefore ,this article proposes a novel practical INS error estimation and compensation method based on continuous observation to feature target .With the observation sequence and pseudo observation sequence ,the residual er‐ror sequence is constructed .And the error estimation equation is established by treating the residual error sequence as the ob‐servation .Then the INS level channel error and vertical channel error are estimated respectively by iterative algorithm . Means de‐noising approach is used to improve the estimation accuracy .The INS error compensation method is a real time method .The simulation result shows that this method can reduce the INS position error to 3m and velocity error to 0 .5m .So it could be applied to cruise missile autonomous navigation .Even if other navigation systems are available ,this method could also be used to increase the reliability of the integrated navigation system .