Inertial-based Deep-coupling Navigation Method with Embedded Flight Dynamics

doi:10.12382/bgxb.2024.0780

Abstract

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

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.

Figures/Tables 16

Fig.1 Coordinate system

Fig.2 Force analysis diagram of high dynamic flight vehicle

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

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

Fig.4 Flight trajectory of high dynamic flight vehicle

Fig.5 Navigation algorithm framework

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

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

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

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

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

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

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

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

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

Fig.13 Statistics of navigation results for different navigation modes

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