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1、平流层飞艇抗风场干扰CUKF算法设计与应用赵岩1,高社生2,丁晓3,韦道知1(1.空军工程大学，防空反导学院，西安710051；2.西北工业大学，自动化学院，西安710129；3.中航工业西安动力控制有限公司设计所，西安710077)摘要：为了提高风场干扰环境下飞艇的导航精度，研究飞艇抗风场干扰导航算法。在建立风场干扰条件下飞艇速度误差约束模型的基础上，设计抗风场干扰的约束Unscented卡尔曼滤波算法。首先确定风场干扰条件下飞艇的速度误差约束量，将该约束与Unscented卡尔曼滤波算法相结合，对速度误差进行
2、估计和补偿，以减小风场对飞艇定位精度的影响；然后证明该算法的状态估计量不仅是无偏的，而且协方差小于标准UKF的协方差；最后将提出的算法应用于捷联惯导/天文/合成孔径雷达组合导航系统中进行仿真验证，并与自适应扩展卡尔曼滤波和抗差自适应UKF算法进行比较，结果表明：提出的约束UKF算法的滤波性能明显优于自适应EKF和抗差自适应UKF算法，能够有效抑制风场对飞艇定位精度的影响，提高飞艇的导航定位精度。关键词：组合导航；平流层飞艇；风场估计；约束Unscented卡尔曼滤波中图分类号：V249文献标识码：ADesigna
3、ndApplicationonCUKFforStratosphericAirshipwithWindFieldDisturbanceZHAOYan1,GAOShesheng2,DINGXiao2,WEIDaozhi1(1.AirForceEngineeringUniversity,AirandMissileDefenseCollege,Xi`an710051China;2.SchoolofAutomatics,NorthwesternPolytechnicalUniversity,Xi’an710129,Chin
4、a;3.InstituteofAVICAero-engineControlsCO.,Xi`an710077China)Abstract:Toimprovethenavigationaccuracyofairshipinthedisturbanceenvironmentofwindfield,anavigationalgorithmwithanti-interferenceofwindfieldwasstudied.Basedonbuildingupanerrorconstraintsmodeloftheairsh
5、ipvelocityinwindfielddisturbance,aconstraintsunscentedkalmanfilteralgorithmwhichresistswindfielddisturbancewasdesigned.Firstly,theerrorconstraintvectorofairshipvelocitywasdetermined.Todecreasetheimpactofwindfieldonpositionalaccuracyofairship,thevelocityerrorw
6、asestimatedandcompensatedbythecombinationofunscentedkalmanfilteranderrorconstraintvector.Then,thestateestimationvalueofproposedalgorithmwasprovedtobeunbiased,andthecovariancewaslessthanthatofthestandardUKF.Finally,theproposedalgorithmwasappliedtoSINS/CNS/SARi
7、ntegratednavigationsystemandconductedsimulation,andwascomparedwiththeadaptiveextendedkalmanfilterandrobustadaptiveUKF.ThesimulationresultsshowthatnotonlythefilterperformanceoftheproposedCUKFwasmuchbetterthanthoseofAEKFandRAUKF,butalsotheimpactofwindfiledonpos
8、itionalaccuracyofwasdecreasedandthenavigationaccuracyofairshipwasimprovedeffectively.Keywords:integratednavigation;stratosphericairship;windfiledestimation;constraintsunscentedkalmanfilte
