针对复杂环境条件下弹道导弹SINS/GPS组合制导过程中GPS量测噪声强度不稳定的问题,综合考虑陀螺快变漂移、慢变漂移、数字平台失准角等因素,重点建立了弹道导弹SINS的误差模型;设计了一种基于新息自适应滤波算法,以减小GPS噪声统计模型误差造成的滤波误差。采用基于新息自适应估计卡尔曼滤波(AKF)进行数据融合,对比标准卡尔曼滤波(SKF)的仿真结果,证明在GPS噪声强度变化时,AKF比SKF有更高的滤波精度和更强的鲁棒性。

To solve the problem of GPS unstable measurement in ballistic missile's integrated SINS/GPS guidance, considering factors such as fast variation drift, slow variation drift, digital platform angle error, etc, the error model of SINS on ballistic missile was built. A new novel innovation-based adaptive filter was designed to solve GPS unstable measurement. With the error model of measurement, AKF and SKF were applied to realize data fusion. The simulation results show that AKF has higher estimation accuracy and stronger robustness while the GPS has variable noise intensity.