面向多源着舰引导信息的分布式融合技术

doi:10.7527/S1000-6893.2024.31461

Abstract

Abstract:

In the carrier-based aircraft landing process， to meet the requirements of high-precision and high-reliability relative navigation for carrier-based aircraft landing， a distributed fusion architecture and algorithm for multi-source landing guidance information are designed after comparing the limitations of various landing guidance fusion architectures. Firstly， the relative motion between the carrier-based aircraft and the mothership is analyzed， and the aircraft-ship relative inertial solution model is established using the inertial measurement of aircraft and ship， and the error propagation equation of relative inertial solution is derived. Secondly， a relative navigation sub-filter is designed based on the error propagation equation. Then， a fusion method based on calculated correlation is proposed for the two relative navigational sub-filters with correlation. By calculating the cross covariance matrix of the two combinatorial filters in real time， the fusion estimation is carried out to provide the flight control system with landing guidance information whose fusion accuracy is better than that of any relative navigational sub-filter. Moreover， this method provides real-time evaluation results of relative navigation fusion accuracy. Finally， simulation verification is carried out based on simulation data and test flight data. The results show that this method can improve the accuracy of relative navigation， accurately evaluate relative navigation errors， and solve the correlation problem existing in the fusion center processing in the distributed fusion architecture， so as to better assist the guidance and control of carrier aircraft landing.

Key words: landing guidance, data fusion, cross covariance matrix, navigation system, aircraft carrier

CLC Number:

V249.32

Ligong LI, Chao ZHANG, Jingting SU. Distributed fusion technology for multi-source landing guidance information[J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(13): 531461.

Figures/Tables 22

Fig.1

Fig.2

Fig.3

Fig.4

Fig.5

Table 1

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

Table 2

Fig.12

Fig.13

Fig.14

Fig.15

Fig.16

Fig.17

Table 3

Fig.18

Fig.A1

References 26

[1]	PETERSON B R， JOHNSON G， STEVENS J. Feasible architectures for joint precision approach and landing system （JPALS） for land and sea［C］∥Proceedings of the 17th International Technical Meeting of the Satellite Division of The Institute of Navigation. Long Beach： ION GNSS， 2004： 544-554.
[2]	李强，张淑丽，蒙文巩. 国外舰载无人机着舰引导技术发展现状［J］. 无人系统技术， 2018， 1（2）： 43-48.
	LI Q， ZHANG S L， MENG W G. Surveys of carrier landing techniques for UAVs［J］. Unmanned Systems Technology， 2018， 1（2）： 43-48 （in Chinese）.
[3]	SHCHERBININ V V， KVETKIN G A， SVIYAZOV A V， et al. Navigation support of the UAV automated landing system［J］. Gyroscopy and Navigation， 2013， 4（2）： 104-114.
[4]	HUANG C J， JAN S S. UAV shipboard landing with RTK［J］. GPS World， 2014， 5（25）：34-42.
[5]	GUNNAM K， HUGHES D C， JUNKINS J L， et al. A DSP embedded optical navigation system［C］∥6th International Conference on Signal Processing， 2002. Piscataway： IEEE Press， 2002： 1735-1739.
[6]	ANITHA G， GIREESH KUMAR R N. Vision based autonomous landing of an unmanned aerial vehicle［J］. Procedia Engineering， 2012， 38： 2250-2256.
[7]	SANCHEZ-LOPEZ J L， PESTANA J， SARIPALLI S， et al. An approach toward visual autonomous ship board landing of a VTOL UAV［J］. Journal of Intelligent & Robotic Systems， 2014， 74（1）： 113-127.
[8]	Corporation S A. Lidar-based shipboard tracking and state estimation for autonomous landing： 20160009410［P］. 2016-01-14.
[9]	刘基余. GPS卫星导航定位原理与方法［M］. 北京：科学出版社， 2003： 334-363.
	LIU J Y. Principles and methods of GPS satellite navigation and positioning［M］. Beijing： Science Press， 2003： 334-363 （in Chinese）.
[10]	周煜，伍逸夫，赵峰. 航母着舰引导系统概述［J］. 舰船电子工程， 2011， 31（11）： 22-24， 36.
	ZHOU Y， WU Y F， ZHAO F. An overview of aircraft carrier landing guidance systems［J］. Ship Electronic Engineering， 2011， 31（11）： 22-24， 36 （in Chinese）.
[11]	LÖBL D， HOLZAPFEL F. Simulation analysis of a sensor data fusion for close formation flight‍［C］‍∥AIAA Guidance， Navigation， and Control Conference. Reston： AIAA， 2014.
[12]	TANG D Q， JIAO Y K， CHEN J. On Automatic Landing System for carrier plane based on integration of INS， GPS and vision［C］‍∥2016 IEEE Chinese Guidance， Navigation and Control Conference （CGNCC）. Piscataway： IEEE Press， 2016： 2260-2264.
[13]	唐大全，毕波，王旭尚，等. 自主着陆/着舰技术综述［J］. 中国惯性技术学报， 2010， 18（5）： 550-555.
	TANG D Q， BI B， WANG X S， et al. Summary on technology of automatic landing/carrier landing［J］. Journal of Chinese Inertial Technology， 2010， 18（5）： 550-555 （in Chinese）.
[14]	LARRY D A. Using radar derived location data in a GPS landing system：US9975648B2［P］. 2018-05-22.
[15]	YANG X L， MEJIAS L， GARRATT M. Multi-sensor data fusion for UAV navigation during landing operations［C］∥Proceedings of the 2011 Australian Conference on Robotics and Automation. New York： Curran Associates， Inc.， 2011：1-10.
[16]	LIGGINS M E， CHONG C Y， KADAR I， et al. Distributed fusion architectures and algorithms for target tracking［J］. Proceedings of the IEEE， 1997， 85（1）： 95-107.
[17]	沈晓静. 多传感器分布式检测和估计融合［J］. 中国科学：数学， 2014， 44（2）： 105-116.
	SHEN X J. Multi-sensor distributed detection and estimation fusion［J］. Scientia Sinica （Mathematica）， 2014， 44（2）： 105-116 （in Chinese）.
[18]	张康皓，董希旺，于江龙，等. 多传感器融合状态估计方法综述［J］. 导航定位与授时， 2022， 9（5）： 28-37.
	ZHANG K H， DONG X W， YU J L， et al. A survey of multisensor data fusion state estimation methods［J］. Navigation Positioning and Timing， 2022， 9（5）： 28-37 （in Chinese）.
[19]	周峰，梁禄扬，林平. 协方差交叉融合的惯性/卫星/雷达组合导航研究［J］. 航天控制， 2021， 39（4）： 22-27.
	ZHOU F， LIANG L Y， LIN P. Research on INS/GNSS/RADAR integrated navigation with covariance intersection fusion［J］. Aerospace Control， 2021， 39（4）： 22-27 （in Chinese）.
[20]	HALL D， LLINAS J. Multisensor data fusion［M］. Boca Raton： CRC Press， 2001： 23-32.
[21]	CHEN L J， ARAMBEL P O， MEHRA R K. Estimation under unknown correlation： Covariance intersection revisited［J］. IEEE Transactions on Automatic Control， 2002， 47（11）： 1879-1882.
[22]	REINHARDT M， NOACK B， ARAMBEL P O， et al. Minimum covariance bounds for the fusion under unknown correlations［J］. IEEE Signal Processing Letters， 22（9）： 1210-1214.
[23]	韩崇昭，朱洪艳，段战胜. 多源信息融合［M］. 3版. 北京：清华大学出版社， 2022： 306-309.
	HAN C Z， ZHU H Y， DUAN Z S. Multisource information fusion［M］. 3rd ed. Beijing： Tsinghua University Press， 2022： 306-309 （in Chinese）.
[24]	CHANG K C， SAHA R K， BAR-SHALOM Y. On optimal track-to-track fusion［J］. IEEE Transactions on Aerospace and Electronic Systems， 1997， 33（4）： 1271-1276.
[25]	LI X R， ZHU Y M， WANG J， et al. Optimal linear estimation fusion.I. Unified fusion rules［J］. IEEE Transactions on Information Theory， 2003， 49（9）： 2192-2208.
[26]	张志远，罗国富. 舰船姿态坐标变换及稳定补偿分析［J］. 舰船科学技术， 2009， 31（4）： 34-40.
	ZHANG Z Y， LUO G F. Coordinate transformation of warship pose and analysis of stabilization compensation［J］. Ship Science and Technology， 2009， 31（4）： 34-40 （in Chinese）.

传感器类型	误差设置
机载惯导	加速度计：零位100 μg，随机游走20 μg/Hz^1/2 陀螺：漂移0.01 （°）/h，随机游走0.003 （°）/h^1/2 姿态误差：0.05°；航向误差：0.1°
舰船惯导	加速度计：零位50 μg，随机游走10 μg/Hz^1/2 陀螺：漂移0.002 （°）/h，随机游走0.000 4 （°）/h^1/2 姿态误差：10 （″）/h；航向误差：30 （″）/h
差分卫星	定位：0.2 m（1σ）；σ为均方差
引导雷达	测距：0.5 m（1σ）；测角：0.05°（1σ）

误差类型（95%）	惯性/差分卫星	惯性/雷达	双路融合
水平相对位置误差/m	0.386	0.926	0.374
垂向相对位置误差/m	0.096	0.388	0.085
水平相对速度误差/（m·s^-1）	0.118	0.391	0.110
垂向相对速度误差/（m·s^-1）	0.061	0.175	0.059

误差类型（95%）	惯性/差分卫星	惯性/光电	双路融合
水平相对位置误差/m	0.039	0.063	0.038
垂向相对位置误差/m	0.037	0.106	0.035

Distributed fusion technology for multi-source landing guidance information

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 22

References 26

Related Articles 15

Recommended Articles

Metrics

Comments

[1]	Qiufu WANG, Daoming BI, Zhuo ZHANG, Xiaoliang SUN, Qifeng YU. Onboard visual-inertial relative pose and deck motion easurement for autonomous landing [J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(13): 531268-531268.
[2]	Ershen WANG, Zexin LIU, Deyan WANG, Tengli YU, Fanchen MENG, Yayi LIU, Song XU. Dual dynamic carrier positioning algorithm based on double factor graph and ambiguity optimization [J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(13): 531332-531332.
[3]	Xianchao MENG, Jun TAO. An airfoil inverse design method based on target testing conditional generative adversarial network [J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(10): 631182-631182.
[4]	Dengfeng HU, Yu XIANG, Jun ZHANG, Jiachen YANG, Wenyong WANG. Multi-source data fusion method based on radial basis function generative adversarial network [J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(10): 631478-631478.
[5]	Xinrui ZHANG, Zhi XIONG, Bing HUA, Jun KANG, Huiyu HE. A heterogeneous multi-source integrated navigation method for cross-domain vehicles based on inertial/celestial deep fusion [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(S1): 730614-730614.
[6]	Jianhua CHENG, Sixiang CHENG, Bing QI, Shilong FAN, Guojing ZHAO, Sicheng CHEN. PPP/INS integrated navigation performance analysis in ionospheric scintillation environment [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(S1): 730676-730676.
[7]	Hua YANG, Shusheng CHEN, Zhenghong GAO, Quanfeng JIANG, Wei ZHANG. Rotor aerodynamic data fusion based on Bayesian framework [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(8): 128960-128960.
[8]	Kuo TIAN, Zhiyong SUN, Zengcong LI. High-precision digital twin method for structural static test monitoring [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(7): 429134-429134.
[9]	Hailang SONG, Jiandong ZHANG, Guoqing SHI, Qiming YANG, Yaozhong ZHANG. Comprehensive evaluation techniques and methods for flight test of avionics fire control system [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(5): 529687-529687.
[10]	Weiqing LAI, Jiuqing WAN. Distributed relative positioning of aircraft group based on path⁃sum algorithm [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(4): 328735-328735.
[11]	Qiufu WANG, Zhiguo SHI, Zhuo ZHANG, Xiaoliang SUN, Qifeng YU. Robust monocular relative pose measurement for carrier-based aircraft landing guidance [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(23): 330309-330309.
[12]	Fan ZHANG, Wei CONG, Runcao TIAN, Peng WANG. Heterogeneous data fusion and reliability analysis based on two-layer variable weights [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(22): 230297-230297.
[13]	Zhaojun GU, Huan ZHAO, Jialiang WANG, Liuyang NIE. Automatic landing method for quad-rotor helicopter based on Markov decision process [J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(15): 329652-329652.
[14]	Jing NI, Bo MA, Zhaoxu YANG, Chenggang TAO, Yan ZHOU, Yiwen HU. Design and test of visual-inertial integrated method for landing guidance [J]. Acta Aeronautica et Astronautica Sinica, 2023, 44(S1): 727636-727636.
[15]	Huaijie ZHANG, Jingya MA, Haoyuan LIU, Pin GUO, Huichao DENG, Kun XU, Xilun DING. Indoor positioning technology of multi⁃rotor flying robot based on visual-inertial fusion [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(5): 426964-426964.