惯性/偏振组合导航系统抗干扰初始对准方法研究

Skylight Polarization Navigation Systems（SPNS）have many advantages, such as high autonomy, anti-interference and little error accumulation. Integrating both SPNS and Inertial Navigation Systems (INS) provides superior performance to any of them because of their high complementation. The INS/SPNS integrated navigation systems will be constituted in this project. There are many types of disturbances including internal disturbances, external disturbance and modeling errors in integrated avigation systems. These disturbances restrict the accuracy, time and robustness of initial alignment. The various disturbances also greatly affected the observability of integrated avigation systems. In this project, firstly, a class of new model of constituted integrated navigation systems with multisource disturbances will be given. Secondly, the observability of INS/SPNS and disturbance rejection of various disturbances will be analyzed. In addition, only one type of disturbance is researched in the most commonly used filtering method during the initial alignment process. Anti-disturbance filtering will be presented to estimate, attenuate and compensate multiple disturbances to improve the accuracy and shorten the time. . In order to analyze the ability of anti-disturbance and comparison among different disturbances of integrated avigation systems, some experiments on initial alignment of UAV will be carried out. The experiment will also be used to verify the effectiveness and practicability of proposed approaches in engineering.

偏振光导航具有自主性强、抗干扰性好、误差不随时间积累等优点，且具备与惯性导航兼容互补的特性，因而十分有必要研究新型的惯性/偏振组合导航系统模型。考虑内、外部干扰和建模误差等多源干扰极大地限制了初始对准的精度、时间和鲁棒性，严重地影响组合导航系统的可观测性等问题，本项目首先建立含有多源干扰的惯性/偏振深组合导航系统新模型；其次分析多源干扰影响下的组合导航系统的可观测性和干扰的可估计性。针对初始对准使用的滤波方法大多限于单一类型干扰的假定，设计具备抗多源干扰能力的滤波方法，实现对不同类型干扰的估计、补偿和抑制，提高对准精度、缩短对准时间和增强鲁棒性；最后，为解决不同干扰环境下抗干扰能力分析和对比问题，开展无人机初始对准实验，验证和评估抗干扰滤波算法的合理性及工程应用的实用性。

偏振光导航具有自主性强、抗干扰性好、误差不随时间积累等优点，且具备与惯性导航兼容互补的特性，开展了惯性/偏振组合导航系统对准与导航研究。考虑到惯性/偏振组合导航系统受到内、外部干扰和建模误差等多源干扰影响，极大限制了初始对准的精度、时间和鲁棒性，严重地影响组合导航系统的可观测性等问题，本项目首先分析了组合导航系统面临的多源干扰，构造了相应干扰的模型，建立了含有多源干扰的惯性/偏振组合导航系统新模型，并设计了多种滤波方法，实现了传感器标定与补偿。针对惯性/偏振组合导航小失准角下的高精度对准问题，建立了双偏振/惯性组合导航系统新模型，设计了卡尔曼滤波方法估计失准角，提高了对准精度并缩短了时间，同时分析了系统的随机可观性和几何可观性，结果表明双偏振/惯性组合导航系统是不可观的，不可观的状态为东向加计零偏，为仿生偏振初始对准的工程应用提供了参考。针对大失准角下的惯性/偏振组合导航系统的对准问题，建立了非线性偏振量测模型，设计了无迹卡尔曼滤波器实现大失准的估计，并基于李代数的方法开展了可观测性分析，得到了动态大失准角下的惯性/偏振组合导航系统是可观测的，为仿生偏振初始对准在车载对准等方面提供了参考价值。最后，为解决惯性/偏振组合导航系统实验验证问题，搭建了多类型的实验验证平台，开展了地面静基座初始对准实验和多传感器融合导航实验等，验证和评估了所提出方法的合理性及工程应用的实用性。