为解决6D激光标靶在受非引力外力作用的环境下姿态测量失效的问题,提出了一种基于激光标靶和捷联惯导系统(SINS)的组合位姿测量方法。通过推导卡尔曼滤波状态方程与观测方程,建立组合测量系统的卡尔曼滤波模型,利用卡尔曼滤波校正位姿误差和惯性测量单元(IMU)随机误差。在卡尔曼滤波模型中加入故障检测方法,使组合系统具有自监控功能。当激光标靶姿态失效时,仅使用校正后的SINS数据,保证系统的可靠性。最后,对所提方法进行仿真验证。仿真结果表明,该方法能有效地解决激光标靶姿态角测量失效问题,提高系统抗干扰性和动态性能。

Under the environment affected by non-gravitational external force, the pose measurement of a 6D laser target becomes invalid. In order to solve this problem, a pose measurement method based on laser target combined with strapdown inertial navigation system (SINS) is proposed. By deriving the Kalman filtering state equation and observation equation, Kalman filtering model of combined measurement system is established. The pose error and the random error of the inertial measurement unit (IMU) are both corrected by the Kalman filtering. The fault detection method is introduced into the Kalman filtering model, so that the combined system achieves the ability of self-monitoring. When the pose data of the laser target become invalid, the system can only use the corrected SINS data to ensure the reliability of the system. Finally, the method is verified by the simulation experiment. The simulation results show that this method can effectively solve the invalid problem of pose angle measurement of the laser target and improve the anti-interference and dynamic performance of the system.