针对临近空间飞行器高动态环境下组合导航量测噪声非高斯化问题, 利用闪烁噪声模型对量测噪声的非高斯特性进行建模, 然后在北斗/INS深组合模型的基础上采用一种基于Huber鲁棒核函数的容积卡尔曼滤波器(Huber CKF)的高动态环路跟踪方法和基于高度角自适应渐消因子的自适应深组合导航模型。首先, 针对临近空间环境建立了量测噪声闪烁模型, 模拟高超速环境下电离层闪烁特性对载波相位的影响; 其次, 用鲁棒滤波方法替代传统跟踪环路中的锁相环, 克服了传统鉴相器在非高斯噪声条件下跟踪精度下降的问题; 最后, 根据各通道卫星高度信息设计自适应渐消因子, 调节各通道量测信息权值占比, 能有效提高位置精度。仿真结果表明: 在惯性器件陀螺精度0.01 (°)/h、加计精度10-5g的情况下, 所提出的方法可将位置均方根(RMSE)精度提高0.288 4 m, 速度均方根精度提高0.018 7 m/s, 可以有效提高临近空间飞行器的导航精度, 为未来临近空间飞行器导航系统设计提供理论参考。
For the problem that the navigation measurement noise of near-space vehicles becomes non-Gaussian in a high dynamic environment, a flicker noise model is used to simulate the non-Gaussian characteristics of measurement noise. Then, a high dynamic loop tracking method based on Huber Cubature Kalman Filter (Huber CKF) and an adaptive deeply integrated navigation model based on the altitude angle adaptive fading factor are presented on the basis of the Beidou/INS deeply integrated model. First, a flicker noise model is developed to simulate the effect of ionospheric flicker on the carrier phase in high-speed environments. Second, a robust filtering method is used to replace the phase-locked loop, which overcomes the problem that the accuracy of the phase discriminator is reduced under non-Gaussian noise conditions. Finally, an adaptive fading factor is designed based on the satellite altitude angle to adjust the weights of each channel, which can effectively improve the position accuracy. The simulation results show that the estimation accuracy in the position Root Mean Squared Error (RMSE) can be improved by 0.288 4 m, and the estimation accuracy in velocity RMSE can be improved by 0.018 7 m/s, when the measurement accuracy indicator of the gyroscope is 0.01 (°)/h and the measurement accuracy indicator of the accelerometer is 10-5 g. The methods presented in this paper can effectively improve the navigation accuracy of the near-space vehicle, and provide theoretical references for the navigation system of the near-space vehicle in the future.
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