主动雷达导引头速度信息辅助捷联惯导的组合系统性能分析

主动雷达导引头(ARS)在飞行中段向地面开机，可利用多普勒效应得到沿导引头波束方向的速度测量值，具有辅助惯导的潜力。文中采用卡尔曼滤波算法，建立了导引头波束速度信息辅助惯导的模型。研究表明，利用该测速信息可辅助捷联惯性导航系统(SINS)，构建主动雷达／捷联惯导系统，在不增加导航设备的基础上，可提高纯惯导系统的精度。该系统能给出米级精度的速度信息，明显抑制了惯导位置误差的增长，具有良好的应用潜力。

On Improving Strapdown Inertial Navigation System(SINS) with Velocity Information of Active Radar Seeker (ARS)

We, like Ref.3, deal with turning into actual design the potential of ARS to aid SINS. Different from Ref.3 in the use of information provided by ARS, we utilize the ARS velocity information. We design a new Kalman filter to implement such utilization of ARS velocity information. The two key problems are: (1) the compensation for the difference between SINS velocity and ARS velocity; (2) the design of measurement construction and then the derivation of the observation equation. After suitable compensation, the SINS velocity can be transformed into equivalent ARS velocity and the observation quantity is the difference between ARS velocity and equivalent ARS velocity. Thus we derive the observation equation using the ARS body coordinate system instead of the usual navigation coordinate system as reference . The results of two numerical examples show that: (1) the velocity accuracy is improved to within 1 m/s and 2.5 m/s respectively; (2) the position error is suppressed to about 500 m and 3 000 m respectively. Our research means ARS velocity information can improve SINS navigation performance without extra equipment and cost.