在机群协同编队飞行中,编队成员仅装载惯性导航系统(INS)的方式具有隐蔽、抗干扰等明显的优势,但随着航时的增加,INS误差将不断累积,使导航系统失效,为此,提出基于相对导航的多平台INS误差联合修正方法。首先,建立了编队成员相对导航运动模型及非线性观测模型,采用量测重构技术构造了伪线性观测模型并推导了观测噪声协方差矩阵;其次,基于相对导航结果提出了一种多平台INS误差联合修正方法,从理论上证明了协同编队各成员INS误差联合修正所能达到的理想性能,并给出了INS误差联合修正策略。仿真结果表明:所提出的相对导航估计算法在精度基本不变的情况下,收敛速度较扩展卡尔曼滤波(EKF)大幅提高;所提出的基于相对导航的多平台INS误差联合修正方法有效地减缓了编队系统的INS误差发散速度。

It is of distinct advantage that the members of an air fleet are equipped with just inertial navigation system (INS) in collaborative formation flying, such as concealment, anti-jamming,etc. However, with the increase of endurance, INS error will be cumulated continuously, which may lead the navigation system to fail. Therefore, this article proposes a joint correcting method of multi-platform INS errors based on relative navigation. First, it builds a relative motion model and a nonlinear observation model, constructed a pseudo linear observation model with measurement reconstruct technique, and then it deduces the pseudo linear observation covariance matrix. Second, the article proposes a joint correcting method of multi-platform INS errors based on relative navigation, and demonstrates the satisfactory effect of this joint INS error correction. Furthermore, it provides a specific strategy of joint correction. Finally, the simulation result shows that compared with the extended Kalman filter (EKF), the proposed method can increase the convergence rate of relative navigation by a large amount while the accuracy remains unchanged on the whole. The joint correcting method of multi-platform INS errors based on relative navigation effectively slows down the divergence speed of INS errors of a formation system.