内嵌飞行动力学的高动态飞行器惯性基深耦合导航方法

doi:10.12382/bgxb.2024.0780

摘要/Abstract

摘要：

为研究不依赖卫星的高动态飞行器自主导航方法,建立高动态飞行器的飞行动力学模型。采用数值积分法,解算出高动态飞行器轨迹信息,分析高动态飞行器飞行误差特性,并生成虚拟惯导数据。基于飞行误差特性,提出一种利用实测惯导数据与虚拟惯导数据动态加权的导航解算方法,并依靠“速度+姿态”匹配卡尔曼滤波方法进一步抑制导航误差。通过对内嵌飞行动力学的惯性基深耦合导航方法进行仿真,验证所提出的深耦合导航方法。仿真结果表明,新方法能够大幅度提升导航精度,在预置飞行轨迹偏差程度不同的情况下,新方法对导航效果的提升幅度分别达到97.1%、72.9%和40%。

关键词: 高动态飞行器, 飞行动力学, 惯性基深耦合, 自主导航, 误差特性, 卡尔曼滤波

Abstract:

To study the autonomous navigation method of high dynamic flight vehicle that does not rely on satellites,a flight dynamics model of high dynamic flight vehicle is established.The numerical integration method is used to solve the trajectory information of high dynamic flight vehicle,the flight error characteristics of high dynamic flight vehicle is analyzed,and generate the virtual inertial navigation data is generated.A navigation solution method using the dynamic weighting of measured inertial navigation data and virtual inertial navigation data is proposed based on the characteristics of flight errors,and the “velocity+attitude” matching Kalman filter method is used to further suppress the navigation errors.The inertial-based deep-coupling navigation method with embedded flight dynamics is proposed and proven through simulation.The results show that the proposed deep-coupling navigation method can significantly improve navigation accuracy.The improvement in navigation performance of the proposed method reaches 97.1%,72.9%,and 40% under different degrees of preset flight trajectory deviation.

Key words: high dynamic flight vehicle, flight dynamics, inertial-based deep-coupling, autonomous navigation, error characteristics, Kalman filter

杨子傲, 曲麒富, 孙海文, 李烨, 嵇振涛. 内嵌飞行动力学的高动态飞行器惯性基深耦合导航方法[J]. 兵工学报, 2024, 45(S2): 240-250.

YANG Ziao, QU Qifu, SUN Haiwen, LI Ye, JI Zhentao. Inertial-based Deep-coupling Navigation Method with Embedded Flight Dynamics[J]. Acta Armamentarii, 2024, 45(S2): 240-250.

图/表 16

图1 坐标系示意图

Fig.1 Coordinate system

图2 高动态飞行器受力分析图

Fig.2 Force analysis diagram of high dynamic flight vehicle

图3 高动态飞行器飞行阶段示意图

Fig.3 Schematic diagram of flight phase of high dynamic flight vehicle

表1 高动态飞行器发射初始条件

Table 1 Initial conditions for high dynamic flight vehicle launch

参数	数值	参数	数值
初始速度/(m·s^-1)	50	一级装药量/kg	22080
发射倾角/(°)	90	一级推进时间/s	61.6
发射偏角/(°)	90	二级装药量/kg	6246
初始质量/kg	34335	二级推进时间/s	65.2
装药量/kg	31759	三级装药量/kg	3317
燃料比冲/(N·s·kg^-1)	2393	三级推进时间/s	59.6
旋转体释放时间/s	550	垂直上升时间/s	1.49
飞行器半径/m	0.72	旋转体半径/m	0.27

图4 高动态飞行器飞行轨迹

Fig.4 Flight trajectory of high dynamic flight vehicle

图5 导航算法框架图

Fig.5 Navigation algorithm framework

表2 仿真条件设置

Table2 Simulation condition setting

参数	数值
陀螺仪零偏/((°)·h^-1)	10
加速度计零偏/mg	10
发射初速偏差均值/%	2
发射倾角偏差均值/%	0.03
发射偏角偏差均值/%	0.015

图6 分阶段角速度与加速度误差曲线

Fig.6 Phase-wise angular velocity and acceleration error curves

表3 角速度与加速度误差阈值

Table 3 Angular velocity and acceleration error threshold

阶段	角速度误差阈值	加速度误差阈值
非旋转段	0.0000634	0.2445
旋转段	0.0746	0.0457

图7 情景1中高动态飞行器导航位置误差曲线

Fig.7 Scenario 1:navigation position error curve of high dynamic flight vehicle

图8 情景1中高动态飞行器权值变化曲线

Fig.8 Scenario 1:weight variation curve of high dynamic flight vehicle

图9 情景2中高动态飞行器导航位置误差曲线

Fig.9 Scenario 2:navigation position error curve of high dynamic flight vehicle

图10 情景2中高动态飞行器权值变化曲线

Fig.10 Scenario 2:weight variation curve of high dynamic flight vehicle

图11 情景3中高动态飞行器导航位置误差曲线

Fig.11 Scenario 3:navigation position error curve of high dynamic flight vehicle

图12 情景3中高动态飞行器权值变化曲线

Fig.12 Scenario 3:weight variation curve of high dynamic flight vehicle

图13 不同导航方式导航结果统计图

Fig.13 Statistics of navigation results for different navigation modes

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