高超声速飞行器超紧耦合自主可靠导航方法研究

Near space hypersonic vehicles have high dynamic, harsh flight environment of near space and complex dynamic characterfistics. In such circumstances, the autonomous and reliable navigation for these vehicles has become of one of the major problems to be solved in the current and future development of near space fields..In autonomous navigation system of vehicle, for the issues of ultra-tightly coupled design, stable tracking for satellite signal and fusion estimation, and online fault detection and reconstruction, current studies are difficult to adapt to the autonomous and reliable navigation requirements proposed by near space hypersonic vehicles, which are operating in high dynamic, stong interference, abnormal weak measurement, high failure rate and other environments. To this end, the project intends to study in theory: 1) highly reliable SINS/GPS ultra-tightly coupled structural optimization design; 2) SINS assisted GPS signal tracking method based on ultra-tightly coupled structural under high dynamic and strong interference conditions; 3) SINS/GPS ultra-tightly coupled navigation integration filter in the case of abnormal weak measurement; 4) online fault detection and reconstruction methods for SINS/GPS ultra-tightly coupled navigation system under conditions of high fault rate. In engineering, integrated and comprehensive simulation platform is carried out to validate the developed methods. The results of this project will provide theoretical support for the navigation technilogy development of near space hypersonic vehicles.

高超声速临近空间飞行器高动态、恶劣临近空间飞行环境及飞行器本身复杂的动力学特性使得此类飞行器的自主可靠导航问题成为亟待解决的重大难题之一。对于飞行器自主导航系统的超紧耦合结构设计、卫星信号稳定跟踪与融合估计、在线故障检测与重构等问题，现有的相关研究成果难以适应具有高动态、强干扰、弱测量异常、高故障率等特点的高超声速临近空间飞行器对自主可靠导航的要求。为此，本项目在理论上拟研究：1）高可靠SINS/GPS超紧耦合结构优化设计；2）高动态及强干扰下的SINS辅助GPS信号超紧耦合跟踪方法；3）弱测量异常下的SINS/GPS超紧耦合导航融合滤波方法；4）高故障率下的SINS/GPS超紧耦合导航系统在线故障检测与重构方法。在工程上，构建一体化综合仿真平台，验证所研究方法的有效性。项目研究成果将为高超声速临近空间飞行器导航技术的发展提供理论支持。

高动态临近空间飞行器是当前各军事强国竞相发展的空天结合部新型飞行平台，其可预见的战略意义极其深远，而高精度、高可靠性的导航技术是此类飞行器实现远距离作战等飞行任务的重要保证。SINS/GPS超紧耦合导航方式能够很好地满足高动态及强干扰等复杂条件下飞行器的应用需求，逐渐成为组合导航领域的一个研究热点，必将成为惯导/卫星组合系统的新一代设计模式。课题完成了四项研究内容：1）高可靠SINS/GPS超紧耦合结构优化设计；2）高动态及强干扰下的SINS辅助GPS信号超紧耦合跟踪方法；3）弱测量异常下的SINS/GPS超紧耦合导航融合滤波方法；4）高故障率下的SINS/GPS超紧耦合导航系统在线故障检测与重构方法。主要工作及创新性成果包括：.1) 设计了一种基于双回路的SINS/GPS超紧耦合结构，有效解决了传统结构中卫星信号跟踪过程中产生的“负”作用，提高系统可靠性；.2)提出了一种基于抗差自适应容积卡尔曼滤波的超紧耦合跟踪方法，该方法能有效地处理模型不准确所引入的误差，较好地实现GPS卫星信号的高精度和稳定跟踪，其跟踪性能优于基于UKF和基于CKF的跟踪方法，提升了系统在高动态、弱信号条件下的适应性和可靠性。.3)提出了一种基于遗传模糊控制的智能自适应滤波算法，该算法相对于标准EKF算法具有更强的容错性，在两种类型的弱测量异常存在时能够保持较好的滤波精度和稳定性；同时，其容错能力优于具有一定容错性的Sage-Husa自适应滤波算法。.4)提出了一种基于信度规则库的导航系统在线故障检测方法。该方法可有效地实现导航系统故障检测模型参数的在线估计，模型输出可以较好地跟踪系统的故障状态，及时准确地检测出故障，在检测效果上尤其是精度方面要优于离线优化方法，提高了系统的可靠性。