摘要
针对导弹发射车精确可靠定位定向的需求,基于SINS/LDV/OD组合导航思想,设计了联邦卡尔曼滤波器的LDV/SINS和OD/SINS子滤波器以及自主定位系统的主滤波器。结合子滤波器故障特性,设计了自主定位系统的容错方案。通过50 km跑车实验检验,自主定位经度误差不超过20 m,纬度误差不超过20 m,高度误差不超过10 m。设计方案合理有效,可满足实际作战要求。
Based on the theory of SINS/LDV/OD integrated navigation system,the LDV/SINS and OD/SINS sub filters of the Federated Kalman filter is designed,and the main filter in autonomous positioning system is devised.This is focused on the requirements for precision and reliability of positioning and orientation system in missile launching vehicle.A fault-tolerant scheme for autonomous positioning system is designed based on the fault characteristics of sub filters.After the test of 50 km car experiment,the longitude error of the self-localization result is within 20 m,the latitude error within 20 m,and the height error within 10 m.The design is effective and can meet the actual operational requirements.
作者
张彦涛
赵宏明
谭立龙
王鹏
钟山
ZHANG Yantao;ZHAO Hongming;TAN Lilong;WANG Peng;ZHONG Shan(Rocket Force University of Engineering,Xi′an 710025,China)
出处
《弹箭与制导学报》
北大核心
2019年第6期59-65,共7页
Journal of Projectiles,Rockets,Missiles and Guidance
关键词
定位定向
组合导航
故障容错
卡尔曼滤波
orientation and orientation
integrated navigation
fault tolerance
Kalman filter
