机载武器SINS/BDS组合导航自适应滤波算法研究

摘要

对适用于机载武器的组合导航算法展开研究, 给出了SINS/BDS组合导航状态方程, 推导了以伪距、 伪距率作为观测量的观测方程. 针对传统卡尔曼滤波算法在测量噪声不确定的情况下使用存在缺陷的问题, 研究了新的噪声自适应调整滤波与残差故障检测算法. 对新算法进行了软件设计, 并开展了软件仿真与产品车载试验. 试验结果表明, 所设计的算法能有效增强系统鲁棒性、 提高滤波算法精度, 有效隔离故障卫星数据, 能保证被测导航产品的高精度、 稳定、 可靠输出.%Research on the integrated navigation algorithm for airborne weapons.The state equation of SINS/BDS integrated navigation is given.The observation equation of pseudo-distance and pseudo-distance-rate is deduced.In order to solve the question that there is defect when it is uncertain in noise measurement by using the traditional Kalman filter algorithm, a new noise adaptive filter and residual fault detection method are studied.The new algorithm is written into the software, the software simulation and the vehicle tests have been carried out.The test results show that the new algorithm can effectively enhances the system robustness, improved the filter precision, isolate the satellite navigation system failure and make the test navigation product to maintain high precision, stable and reliable output.