可重复使用助推器组合导航技术研究

摘要

To improve the navigation accuracy of a rocket powered reusable booster vehicle(RBV) in a fly-back mode, an integrated navigation scheme is designed. The system error models under the launch point inertial coordinate are established. The multi-sensor information fusion technology based on federated filters is improved. According to the characteristics of the estimation error covariance matrix, a new kind of partial information fusion method of inversion of partitioned matrix is proposed. The relative simulations under the typical flight situation validate that the integrated navigation scheme and algorithm improves the navigation accuracy of RBV fly-back process, especially the landing point.Compared with the inertial navigation system, the positioning error of the integrated navigation system decreases from hectometer to within 5 m,the speed trial error decreases from 0.2 ～1.0 m/s to within 0.01 m/s,the attitude determination accuracy improves from 0.1' to 0.02'.%为提高火箭动力返回工作模式下可重复使用助推器(RBV)的导航精度,设计了一种组合导航方案.建立了发射点惯性坐标系下的导航系统误差模型,改进了基于联邦滤波的多传感器信息融合技术.针对估计误差方差阵的特点,提出了一种分块阵求逆的部分信息融合方法.基于典型飞行环境的数学仿真表明,该组合导航方案和算法提高了RBV返回过程特别是着陆点处的导航精度.与惯性导航系统相比,组合导航的定位误差由102m级降低到5 m以内、测速误差由0.2～1.0 m/s降至0.01 m/s以内、定姿精度由0.1′提高到0.02′.