一种适用于高动态强干扰环境的视觉辅助微机械捷联惯性导航系统/全球定位系统超紧组合导航系统

doi:10.3969/j.issn.1000-1093.2019.11.008

摘要/Abstract

摘要： 为解决高动态、恶劣全球定位系统（GPS）环境下微机械捷联惯性导航系统（MEMS-SINS）/GPS超紧组合导航系统抗干扰能力差的问题，提出一种适用于高动态强干扰环境的视觉辅助MEMS-SINS/GPS超紧组合导航系统。将双目视觉提供的姿态信息引入MEMS-SINS/GPS超紧组合系统中，提高了平台失准角的可观测性；推导了系统的状态方程和量测方程，使用模糊控制方法对两个子滤波器的导航结果进行信息融合。通过数字仿真验证了该系统方案设计的可行性：当GPS信号受到强噪声或多径干扰造成跟踪精度下降时，双目视觉辅助MEMS-SINS/GPS超紧组合系统可以有效降低导航误差，系统位置误差和速度误差分别保持在5.0 m和0.5 m/s以内，有效地解决了低空飞行器在GPS信号被遮挡或干扰情况下的导航问题。

关键词: 组合导航系统, 捷联惯性导航系统, 全球定位系统, 微机械, 高动态, 强干扰, 视觉辅助

Abstract: MEMS-SINS/GPS ultra-tight integrated navigation system has poor anti-jamming ability in high dynamic and harsh GPS environment. A vision aided MEMS-SINS/GPS ultra-tight coupled navigation system suitable for high dynamic and strong interference environment is proposed. The observability of the platform's misalignment angle is improved by introducing the attitude information provided by binocular vision into the MEMS-SINS/GPS ultra-tight coupled navigation system. The state equation and measurement equation of the system are derived, and a fuzzy control method is proposed to integrate the navigation results of two sub-filters. The feasibility of the system scheme design is verified through digital simulation. When the GPS signal results in decreased tracking precision under strong noise and multipath interference, the vision aided MEMS-SINS/GPS ultra-tight coupled navigation system can effectively reduce the navigation error. The system position and velocity errors can be kept within 5.0 m and 0.5 m/s, respectively, which effectively solves the navigation problem of low altitude aircrafts when the GPS signal is occluded or disturbed. Key

Key words: integratednavigationsystem, strapdowninertialnavigationsystem, globalpositionsystem, micro-electro-mechanicalsystem, highdynamic, stronginterference, visionaiding

中图分类号:

TJ765.2⁺2

李群生，赵剡，王进达. 一种适用于高动态强干扰环境的视觉辅助微机械捷联惯性导航系统/全球定位系统超紧组合导航系统[J]. 兵工学报, 2019, 40(11): 2241-2249.

LI Qunsheng， ZHAO Yan， WANG Jinda. A Vision Aided MEMS-SINS/GPS Ultra-tight Coupled Navigation System Suitable for High Dynamic and Strong Interference Environment[J]. Acta Armamentarii, 2019, 40(11): 2241-2249.

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