基于UKF的北斗/SINS组合导航系统研究

管军1,易文俊1,常思江2,袁丹丹1,孙蕾1

(南京理工大学 1.瞬态物理国家重点实验室;2.能源与动力工程学院,南京 210094)

摘要:为了进一步提高导航系统的精度、可靠性及安全性,根据组合导航的基本原理,利用无迹卡尔曼滤波(UKF)算法,对北斗/捷联惯导系统(SINS)组合导航系统进行了系统仿真,在一个装有微型化惯性测量单元(MIMU)和北斗导航芯片的某型精确制导炮弹的自驾仪系统上进行了实际的跑车实验。实验结果表明:对中国自主研发的北斗卫星导航系统和SINS的组合,UKF算法能够有效地估计导航参数的误差,进行反馈校正后,可以大幅提高系统的导航精度和数据的更新频率。在所用硬件和算法的前提下,定位精度能够达到6 m,数据更新频率能够达到100 Hz,可以满足实际工程的需要。

关键词:精确制导;无迹卡尔曼滤波;北斗导航系统;捷联惯导系统

收稿日期:2013-12-15

基金项目:国家自然科学

作者简介:管军(1987- ),男,博士研究生,研究方向为弹箭控制技术。E-mail:guanjun8710@163.com。

通讯作者:易文俊(1970- ),男,教授,博士生导师,研究方向为弹箭外弹道学及其控制技术。E-mail:wjy@mail.njust.edu.cn。

中图分类号:TN967.2文献标识码:A

Research on Beidou/SINS Integrated Navigation System Based on UKF

GUAN Jun1,YI Wen-jun1,CHANG Si-jiang2,YUAN Dan-dan1,SUN Lei1

(1.National Key Laboratory of Transient Physics;2.School of Power and Engineering,NUST,Nanjing 210094,China)

Abstract:To further increase the precision,reliability and security of integrated navigation system(INS),the algorithm of unscented Kalman filter(UKF) was used to simulate the Beidou/SINS INS according to the basic principle of integrated navigation,and the real experiments were all proposed in this paper.The experiment on a car was carried out.For the real experiment,an autopilot was employed for guided bomb equipped with the chip of Beidou and a micro inertial measure unit(MIMU).The experiment result shows that the navigation error of Beidou/SINS INS can be effectively estimated by using the algorithm of UKF.Under the process of feedback compensation,it can enormously improve the precision and the data refresh rate of this system.Under the conditions of the hardware and software mentioned,the accuracy of location can reach 6 m,and the data refresh rate can achieve 100 Hz.These indexes can meet the requirement of a precision guided bomb.

Key words:precision guidance;unscented Kalman filter;Beidou navigation system;strapdown inertial navigation system

精确制导炮弹导航系统的最低要求是能够提供足够精度的位置、速度和姿态等信息,并且还要有很好的可靠性。传统的精确制导炮弹属于自毁性武器,要求成本越低越好,所以本文采用了价格便宜、体积小、功耗低的微电子机械系统MEMS(micro-electromechanical systems)器件进行系统的设计。

惯性导航系统(INS)主要分为捷联式惯性导航系统(SINS)和平台式惯性导航系统(PINS)。……