Heli/SITAN:直升机地形参考导航算法

IEEE Symposium on Position Location and Navigation. A Decade of Excellence in the Navigation Sciences Pub Date : 1990-03-20 DOI:10.1109/PLANS.1990.66236

J. Hollowell

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引用次数: 95

摘要

Heli/SITAN是一种地形参考导航算法，利用雷达高度计与传统导航系统和存储的数字地形高程图相结合的离地间隙测量来准确估计直升机的位置。采用多模型自适应估计技术，采用单态卡尔曼滤波器，保证在初始位置误差较大的情况下也能得到可靠的位置估计。该算法的实时实现在美国陆军UH-1直升机上进行了测试，该直升机配备了Singer-Kearfott多普勒速度传感器和Litton LR-80捷联姿态和航向参考系统(AHRS)。在各种任务剖面中，该实现提供的实时位置固定的中位径向误差小于50 m。虽然Heli/SITAN在一架装备多普勒辅助AHRS的直升机上进行了演示，但扩展到其他类型的飞机和导航系统是直接的

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Heli/SITAN: a terrain referenced navigation algorithm for helicopters

Heli/SITAN is a terrain referenced navigation algorithm that utilizes radar altimeter ground clearance measurements in combination with a conventional navigation system and a stored digital terrain elevation map to estimate a helicopter's position accurately. Multiple model adaptive estimation techniques are used, and a bank of single-state Kalman filters is used to ensure that reliable position estimates are obtained even in the face of large initial position errors. A real-time implementation of the algorithm was tested aboard a US Army UH-1 helicopter equipped with a Singer-Kearfott Doppler velocity sensor and a Litton LR-80 strapdown attitude and heading reference system (AHRS). The median radial error of the position fixes provided in real time by this implementation was less than 50 m for a variety of mission profiles. Although Heli/SITAN was demonstrated on a helicopter equipped with a Doppler aided AHRS, the extension to other types of aircraft and navigation systems is straightforward.<>

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IEEE Symposium on Position Location and Navigation. A Decade of Excellence in the Navigation Sciences

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