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针对弹群协同编队飞行中,编队成员单独使用惯导系统(INS)时存在定位误差发散的问题,基于相同性能的多套INS在相同环境下工作时,其误差近似呈零均值高斯分布这一特性,提出了一种利用成像导引头对航路上任一未知地标被动观测的弹群INS定位误差协同修正方法。首先,融合弹群中各枚导弹相对于地标的视线角量测信息及INS位置量测信息,利用最小二乘思想对未知地标进行协同定位;然后,基于估计得到的地标位置,利用各枚导弹相对于地标的视线角和方位角速率量测信息及INS速度量测信息,反过来修正弹群中各枚导弹的INS定位误差。最后,仿真验证了方法的有效性。
For fleet cooperative flight, there is a problem of discrepancy of positioning error when formation members only use inertial navigation system (INS). When multiple sets of INS based on the same performance work in the same environment, the error is approximately zero-mean Gaussian distribution Aiming at the passive observing of any unknown landmarks on the navigation route by imaging seeker, First of all, based on the least square method, the unknown landmarks are co-located by integrating the sight line angle measurement information and INS position measurement information of each missile in the missile group with the landmarks. Then, based on the estimated landmark position, Relative to the landmark sight angle and azimuth rate measurement information and INS velocity measurement information, in turn, correct INS positioning error of each missile in the missile group. Finally, the simulation verifies the effectiveness of the method.