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弹箭与制导学报 >

2017 , Vol. 37 >Issue 5: 43 - 46,55

DOI: https://doi.org/10.15892/j.cnki.djzdxb.2017.05.010

导弹与制导技术

基于强跟踪 SDRE 滤波的GPS/INS组合导航

  • 任珊珊 ,
  • 赵良玉 ,
  • 娄泰山
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  • 1 北京理工大学宇航学院,北京 100081
    2 飞行器动力学与控制教育部重点实验室,北京 100081
    3 郑州轻工业学院电气信息工程学院,郑州 450002

任珊珊(1993-),女,陕西宝鸡人,硕士研究生,研究方向:飞行动力学与控制。

收稿日期: 2016-09-27

  网络出版日期: 2025-05-22

基金资助

国家自然科学基金(11532002;61603346; 11202023);兵器203所红箭基金项目资助

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A Strong Tracking SDRE Filter for GPS/INS Integrated Navigation

  • REN Shanshan ,
  • ZHAO Liangyu ,
  • LOU Taishan
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  • 1 School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China
    2 Key Laboratory of Dynamics and Control of Flight Vehicle(Beijing Institute of Technology), Ministry of Education, Beijing 100081, China
    3 School of Electrical and Information Engineering, Zhengzhou University of Light Industry, Zhengzhou 450002, China

Received date: 2016-09-27

  Online published: 2025-05-22

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摘要

提出了一种针对非线性不确定模型的强跟踪状态相关黎卡提方程(state-dependentRiccatiequation,SDRE)滤波方法,并将其应用于飞行器的GPS/INS组合导航系统。该方法通过非线性系统的状态相关分解,避免了非线性系统线性化时面临的截断误差和计算Jacobian矩阵的问题,并通过引入自适应渐消因子提高了状态估计的鲁棒性。仿真结果表明,强跟踪SDRE滤波方法增强了导航系统的鲁棒性,提高了飞行器状态快速变化时的跟踪能力。

关键词： SDRE; 组合导航; 强跟踪; GPS/INS

本文引用格式

任珊珊 , 赵良玉 , 娄泰山 . 基于强跟踪 SDRE 滤波的GPS/INS组合导航[J]. 弹箭与制导学报, 2017 , 37(5) : 43 -46,55 . DOI: 10.15892/j.cnki.djzdxb.2017.05.010

Abstract

strong tracking SDRE filtering method for a nonlinear uncertainty model is proposed and applied to GPS/INS integrated navigation system of a flight vehicle. The method, based on state-dependent factorization of nonlinear system, cuts down truncation errors and calculation of Jacobian matrix, which is caused by linearizing nonlinear system and enhances the robustness of SDRE filtering by introducing adaptive fading factor. The simulation results indicate the strong tracking SDRE filter improves the robustness of navigation system and the ability of the state tracking when the state of flight vehicle changes rapidly.

Key words： SDRE; integrated navigation; strong tracking; GPS/INS

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