Reliable measurement selection mechanism-based tightly coupled inertial/bionic polarization integration with position correction

IF 5 1区工程技术 Q1 ENGINEERING, AEROSPACE

Aerospace Science and Technology Pub Date : 2024-08-23 DOI:10.1016/j.ast.2024.109523

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引用次数: 0

Abstract

Tightly coupled SINS/BPNS (strapdown inertial navigation system/bionic polarization navigation system) integration has been proven to be a promising navigation tactic to substitute SINS/GNSS (global navigation satellite system) integration in GNSS-denied environments. However, the existing tightly coupled SINS/BPNS integrations lack SINS position correction and the reliable screening of BPNS measurements, leading to difficulty to complete navigation tasks. This paper presents an enhanced tightly coupled SINS/BPNS integration to correct both SINS position and attitude and conduct reliable measurement screening for BPNS. This method establishes a new measurement model by formulating the relationship between the SINS position error and angle of E-vector to effectively correct the SINS position. Based on the corrected SINS position, the solar position is calculated and further plugged in the measurement model, leading to improved accuracy. Further, based on the focal plane polarization camera, a mechanism of reliable measurement selection with two-level processing is developed and combined with the extended Kalman filter to improve the filtering robustness for tightly coupled SINS/BPNS integration. Results of simulations and experiments show that the proposed method not only can effectively correct SINS navigation information, but also can possess a strong robustness to exclude unreliable BPNS measurements, leading to enhanced navigation performance for tightly coupled SINS/BPNS integration.

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基于紧耦合惯性/仿生偏振集成与位置校正的可靠测量选择机制

紧密耦合的 SINS/BPNS（带下惯性导航系统/仿生偏振导航系统）集成已被证明是一种有前途的导航策略，可在全球导航卫星系统（GNSS）缺失的环境中替代 SINS/GNSS（全球导航卫星系统）集成。然而，现有的 SINS/BPNS 紧耦合集成缺乏 SINS 位置校正和 BPNS 测量的可靠筛选，导致难以完成导航任务。本文提出了一种增强型紧耦合 SINS/BPNS 集成方法，既能校正 SINS 位置和姿态，又能对 BPNS 进行可靠的测量筛选。该方法通过制定 SINS 位置误差与 E-vector 角度之间的关系，建立了一个新的测量模型，从而有效地校正 SINS 位置。根据校正后的 SINS 位置，计算出太阳位置，并进一步将其输入测量模型，从而提高测量精度。此外，在焦平面偏振相机的基础上，还开发了一种采用两级处理的可靠测量选择机制，并与扩展卡尔曼滤波器相结合，提高了 SINS/BPNS 紧密耦合集成的滤波鲁棒性。仿真和实验结果表明，所提出的方法不仅能有效修正 SINS 导航信息，而且具有很强的鲁棒性，能排除不可靠的 BPNS 测量，从而提高 SINS/BPNS 紧密耦合集成的导航性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Aerospace Science and Technology 工程技术-工程：宇航

CiteScore

10.30

自引率

28.60%

发文量

654

审稿时长

54 days

期刊介绍： Aerospace Science and Technology publishes articles of outstanding scientific quality. Each article is reviewed by two referees. The journal welcomes papers from a wide range of countries. This journal publishes original papers, review articles and short communications related to all fields of aerospace research, fundamental and applied, potential applications of which are clearly related to: • The design and the manufacture of aircraft, helicopters, missiles, launchers and satellites • The control of their environment • The study of various systems they are involved in, as supports or as targets. Authors are invited to submit papers on new advances in the following topics to aerospace applications: • Fluid dynamics • Energetics and propulsion • Materials and structures • Flight mechanics • Navigation, guidance and control • Acoustics • Optics • Electromagnetism and radar • Signal and image processing • Information processing • Data fusion • Decision aid • Human behaviour • Robotics and intelligent systems • Complex system engineering. Etc.