| 摘要: |
| 测距仪（Distance Measuring Equipment,DME）/伏尔（Very High Frequency Omnidirectional Range,VOR）/捷联惯导系统（Strap-down Inertial Navigation System,SINS）的组合是实现区域导航的重要导航源，国内针对其开展的理论研究未考虑VOR台站磁差的影响；此外，当飞机飞行至台站上空附近时，方位测量中的野值将导致组合导航精度迅速恶化。针对上述问题，提出了一种改进的DME/VOR/SINS组合导航算法。首先，在建立状态空间模型过程中将磁差扩维进状态变量，以解决已有研究中存在的理论缺陷；其次，推导了DME斜距测量误差与位置误差间的数学关系，结合方位误差量测方程，建立卡尔曼滤波的量测方程；最后，采用一种鲁棒的基于M估计的卡尔曼滤波算法实现信息融合。测试结果表明，所设计的DME/VOR/SINS组合导航算法可以准确地估计出VOR台站磁差，显著提高了组合导航精度和算法的适用性；能有效应对方位测量值中的野值，具备较高的工程应用价值。 |
| 关键词: 测距仪；伏尔；捷联惯导系统；磁差；卡尔曼滤波 信息融合 |
| DOI： |
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| 基金项目:中国电科集团通用电子基因项目（A21001） |
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| A robust DME/VOR/SINS integrated navigation algorithm considering magnetic declination |
| FANG Tao |
| (Southwest China Institute of Electronic Technology,Chengdu 610036,China) |
| Abstract: |
| The integration of distance measuring equipment(DME)/ very high frequency omnidirectional range(VOR)/ strap-down inertial navigation system(SINS) is the important navigation source for area navigation.The domestic research ignores the magnetic declination of the VOR station.In addition,when the plane flies over the station,the azimuth outlier will lead to the degradation of the integrated navigation system.To solve these problems,an improved DME/VOR/SINS integrated navigation algorithm is proposed.First,the magnetic declination is extended as a state variable in formulating the station equation which aims to overcome the theoretical defect in the existing research.Then，the mathematical relationship between slope distance error and position error is derived,with the azimuth error measurement equation,the measurement equation of Kalman filter is formed.Finally,a robust Kalman filter based on M-estimation is utilized to realize the information fusion.The test result demonstrates that the proposed DME/VOR/SINS integrated navigation algorithm can not only estimate the magnetic declination of the VOR station accurately so as to improve the navigation accuracy and applicability of the algorithm,but also effectively resist the azimuth outlier,which has a higher value in engineering application. |
| Key words: distance measuring equipment very high frequency omnidirectional range strap-down inertial navigation system magnetic declination Kalman filter information fusion |
《电讯技术》编辑部 