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针对传统惯性/天文多星组合导航的不足和导航星选取不确定性,设计了一种基于捷联惯性/天文单星深度组合的长航时自主导航系统,通过对惯性导航和二维转台单星观测的误差特性进行建模,综合两者的优点,实现了单星观测角度和惯导解算数据的高精度融合;在高度通道方向,引入气压高度计对高度误差进行阻尼,通过卡尔曼滤波器对惯导误差进行最优估计,运用可观测性理论对系统进行分析,得到了最优导航星选取准则,有效地解决了在部分观测角度下算法性能下降的问题。仿真结果表明:该算法长时间导航定位精度优于传统算法,最优导航星选取准则有效地提高了算法的鲁棒性,具有较高的理论研究意义和工程应用价值。
In view of the shortcomings of the traditional inertial / astronomical multi-satellite combined navigation and the uncertainties of the navigation star, a long-navigation autonomous navigation system based on the strapdown inertial / astronomical single-star depth combination is designed. Through inertial navigation and two- Star observation error characteristics of modeling, the advantages of both, to achieve a single star observation angle and inertial navigation data high precision fusion; in the direction of the height of the channel, the introduction of barometric altimeter to height error damping, Kalman filtering Based on the observability theory, the system is analyzed, and the optimal navigation star selection criterion is obtained, which effectively solves the problem of the performance degradation of the algorithm under some observation angles. The simulation results show that the proposed algorithm is superior to the traditional algorithm in long-time navigation and positioning, and the optimal navigation star selection criterion can effectively improve the robustness of the algorithm, which has higher theoretical significance and engineering application value.