直升机高精度长航时自主定位方法研究

摘要

In order to meet the requirements of high-precision autonomous localization for armed helicopter, an integrated navigation system of Doppler radar/FOG SINS/Barometric Altimeter was designed. According to characteristic error of each sensor, the mathematic model of the integrated system was built up. Considering the problems of a Doppler radar, such as lock losing and abnormal velocity measurement, a Kalman filter based on double fault-tolerant structure was designed. Long-endurance experiment was carried out on a vehicle to a prototype of the integrated navigation, and the result indicates that the system has high precision for long-endurance autonomous localization. The system design is feasible for engineering application.%为满足武装直升机高精度长航时自主定位的要求,设计了一种多普勒雷达/光纤捷联惯导/气压高度表的组合导航系统.根据各传感器的误差特性建立了组合导航系统的数学模型,针对多普勒雷达系统的失锁、测速异常等问题设计了一种基于双层容错结构的卡尔曼滤波算法.最后对设计的组合导航原理样机进行了长航时的地面跑车试验,跑车结果表明该系统长航时的自主定位精度较高,此方案具有较好的工程应用价值.