GNSS拒止下多源自主导航鲁棒滤波方法

doi:10.7527/S1000-6893.2024.30782

Abstract

Abstract:

To meet the requirements for high precision and high completeness in navigation and positioning of spacecraft in the environment of satellite rejection， a robust filtering method for multi-source autonomous navigation is proposed， which combines strapdown inertial navigation， satellite navigation and barometric altimeter. In a short period of time after measurement interruption， this method can accurately quantify the state space model in the tightly integrated navigation model through the filter estimation of the measurement uncertainty and nonlinear error model. Based on an in-depth analysis of the mechanism of the measurement anomaly vector’s action on the filter state output， a robust volume Kalman filter is proposed. The suppression effect of error covariance matrix is effectively improved， and the stability of filter and the estimation accuracy of state equation are improved in the process of multi-source autonomous navigation interpretation. The simulation results show that compared with the traditional volume Kalman filter， the method proposed can improve the accuracy of zero bias estimation of the gyroscope and accelerometer by about 31% and the positioning accuracy of autonomous navigation system by about 23.77%， and suppress the attitude angle error. This study can provide a reference for the terminal application of multi-source autonomous navigation system of the new generation of national integrated PNT system.

Key words: multi-source autonomous navigation, GNSS denied, nonlinearity robust filtering, tight integration, inertial navigation

CLC Number:

V448.2

Zihan NAN, Dayu LIU, Ming DONG, Wenning LIANG, Xuewei ZHAO, Yilin MA, Yao GUAN. Robust filtering method for GNSS denied multi-source autonomous navigation[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(S1): 730782.

Figures/Tables 12

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时间	EKF		CKF		RCKF
时间	位置/m	速度/（m·s^-1）	位置/m	速度/（m·s^-1）	位置/m	速度/（m·s^-1）
中断前	5.94	0.51	6.01	0.57	2.55	0.35
0~40 s	17.36	1.77	16.80	1.77	5.16	0.39
40~80 s	52.82	3.89	49.65	3.82	19.86	1.61

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Robust filtering method for GNSS denied multi-source autonomous navigation

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