直升机高精度长航时自主定位方法研究

陈帅; 纪文涛; 韩宇; 薛晓中; 白宏阳

电光与控制, 2011, 18 (2): 18, 网络出版: 2011-02-21

直升机高精度长航时自主定位方法研究

High-Precision Autonomous Localization Method for Long-Endurance Helicopters

论文大纲

陈帅 ¹纪文涛 ¹韩宇 ¹薛晓中 ²白宏阳 ²

作者单位

¹ 南京理工大学自动化学院, 南京 210094

² 南京理工大学动力学院，南京 210094

组合导航惯性导航多普勒导航自主定位卡尔曼滤波 integrated navigation inertial navigation Doppler navigation autonomous localization Kalman filter

摘要

为满足武装直升机高精度长航时自主定位的要求，设计了一种多普勒雷达/光纤捷联惯导/气压高度表的组合导航系统。根据各传感器的误差特性建立了组合导航系统的数学模型，针对多普勒雷达系统的失锁、测速异常等问题设计了一种基于双层容错结构的卡尔曼滤波算法。最后对设计的组合导航原理样机进行了长航时的地面跑车试验，跑车结果表明该系统长航时的自主定位精度较高，此方案具有较好的工程应用价值。

Abstract

In order to meet the requirements of high-precision autonomous localization for armed helicopter, an integrated navigation system of Doppler radar/FOG SINS/Barometric Altimeter was designed. According to characteristic error of each sensor, the mathematic model of the integrated system was built up. Considering the problems of a Doppler radar, such as lock losing and abnormal velocity measurement, a Kalman filter based on double fault-tolerant structure was designed. Long-endurance experiment was carried out on a vehicle to a prototype of the integrated navigation, and the result indicates that the system has high precision for long-endurance autonomous localization. The system design is feasible for engineering application.

参考文献

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陈帅, 纪文涛, 韩宇, 薛晓中, 白宏阳. 直升机高精度长航时自主定位方法研究[J]. 电光与控制, 2011, 18(2): 18. CHEN Shuai, JI Wentao, HAN Yu, XUE Xiaozhong, BAI Hongyang. High-Precision Autonomous Localization Method for Long-Endurance Helicopters[J]. Electronics Optics & Control, 2011, 18(2): 18.

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