On-board navigation system for an aerial craft including a synthetic aperture sideways looking radar

• US 5,485,384 A
• Filed: 09/03/1993
• Issued: 01/16/1996
• Est. Priority Date: 09/03/1992
• Status: Expired due to Fees

• Current Assignee: Aerospatiale Societe Nationale Industrielle Ayant Son Siege Social
• Original Assignee: Aerospatiale Societe Nationale Industrielle
• Inventors: Falconnet, Bruno
• Primary Examiner(s): Chin, Gary
• Application Number:
  US08/116,337
• Time in Patent Office: 865 Days
• Field of Search: 364/443, 364/449, 364/453, 364/454, 364/456, 73/178 R, 342/25, 342/64, 342/63
• US Class Current: 701/207
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder

Abstract

On-board navigation system for an aerial craft of the type including an SAR synthetic aperture sideways looking radar (12). According to the invention, computing device (18) express the alignment deviation as a function of the estimation error vector ΔU associated with the state vector U consisting of the components of the vectors P, V for the position and relative velocity of the vehicle, in the form of a noise-affected observation, a KALMAN-BUCY filter with gain matrix K computing the estimate of the vector of estimation errors.

Claims

1. An on-board navigation system for an aerial vehicle of the type including an inertial navigation facility (10) delivering an estimation of the position and velocity of the vehicle with respect to the terrestrial surface, a SAR synthetic aperture sideways looking radar (12) producing a SAR radar image of the territory in the vicinity of the point (Mo) overflown by the vehicle, memory means (16) containing a reference map of the territory overflow, means (17) for comparison based on alignment of said SAP, radar image produced in flight with the stored reference map and providing an alignment deviation δ

in two perpendicular directions and computing means (18) linked to the memory means (16), to the inertial navigation facility (10) and to the means of comparison (17), which include filter means of the KALMAN type, and which deliver an inceptor to the KALMAN filter for the estimation of the inertial errors in position and in velocity as a function of the alignment deviation δ

, wherein said computing means (18) express the alignment deviation as a function of the estimation error vector Δ

U associated with the state vector U consisting of the components of the vectors P, V for the position and relative velocity of the vehicle, in accordance with the following equation;

##EQU25## in which;

η

is the vector of alignment error in two perpendicular directions η

x, η

y;

Δ

X and Δ

Y represent the inertial error in position of the vehicle in two horizontal perpendicular directions;

Δ

Z represents the inertial error in altitude of the vehicle;

Δ

V represents the vector of inertial errors in velocity of the vehicle; and

f(Δ

Z, Δ

V) and g(Δ

Z, Δ

V) are two scalar functions; and

wherein the filter is a KALMAN-BUCY filter with gain matrix K such that the estimate Δ

U of the vector of estimation error is equal to Δ

U=K.δ

.

2. The system as claimed in claim 1, wherein said scalar functions f(Δ

Z, Δ

V) and g(Δ

Z, Δ

V) have an observed alignment deviation in accordance with the following equation;

##EQU26## having the following observation matrix ##EQU27## in which the terms α

1, β

1, A and B depend only on the kinematics and the estimated trajectory and on the estimated coordinates of the sighted point on the ground, and wherein the gain matrix of the KALMAN-BUCY filter equals

space="preserve" listing-type="equation">K=Σ

.sub.U.sup.-.H.sup.t.(H.Σ

.sub.U.sup.-.H.sup.t +Σ

η

).sup.-1

where E_U^- denotes the covariance matrix of the vector of estimation errors before adjustment, Σ

η

denotes the covariance matrix of the alignment error vector, and wherein a post-adjustment residual estimation error Δ

U⁺ is determined according to the formula;

space="preserve" listing-type="equation">Δ

U.sup.+ =Δ

U.sup.- -Δ

U

and having the following covariance matrix Σ

_U⁺ ;

space="preserve" listing-type="equation">Σ

.sub.U.sup.+ =(I-K.H).Σ

.sub.U.sup.-

where I denotes the identity matrix.

3. The system as claimed in claim 1, wherein said scalar functions f(Δ

Z, Δ

V) and g(Δ

Z, Δ

V) have an observed alignment deviation in accordance with the following equation;

##EQU28## having the following observation matrix ##EQU29## the terms α

i, β

i, A and B depending on the kinematics of the estimated trajectory and on the estimate coordinates of the sighted point on the ground, and wherein a first estimate .sub.Δ

U of the vector of estimation errors is equal to;

##EQU30## with δ

.sub.Δ

Z² denoting the variance of the inertial error in altitude Δ

Z before adjustment and with K1 which represents a first gain matrix of the KALMAN-BUCY filter and which is equal to;

space="preserve" listing-type="equation">K.sub.1 =Σ

.sub.U.sup.-.H.sup.t.(H.Σ

.sub.U.sup.-.H.sup.t +Σ

η

+Σ

.sub.z).sup.-1

Σ

_U^- denoting the covariance matrix of the vector of estimation errors before adjustment, Σ

η

denoting the covariance matrix of the alignment error vector, and Σ

_z is a matrix which is equal to;

##EQU31## and a first residual estimation error dU being determined according to the formula

space="preserve" listing-type="equation">dU=Δ

U-.sub.Δ

.spsb. .sub.U

its covariance matrix Σ

*_u being equal to

space="preserve" listing-type="equation">Σ

*.sub.U =(I-K.sub.1.H).Σ

.sub.U.sup.-

with I denoting the identity matrix.

4. The system as claimed in claim 3, additionally comprising means for computing, from said first estimate .sub.Δ

U of the vector of estimation error, a pseudo-measure δ

* of the alignment deviation such that;

##EQU32## with .sub.Δ

Z denoting the altitude component of said first estimate, and such that

space="preserve" listing-type="equation">δ

*≈

H*.dU+η

and having the following observation pseudo-matrix H* which is equal to ##EQU33## a second estimate _d.sbsb.U of the vector of estimation errors is equal to

space="preserve" listing-type="equation">.sub.d.sbsb.U =K.sub.2.δ

*

with K₂ denoting a second gain matrix of the KALMAN-BUCY filter and which is equal to

space="preserve" listing-type="equation">K.sub.2 =Σ

* .sub.U.H*.sup.t.(H*.Σ

*.sub.U.H*.sup.t ÷

Σ

η

).sup.-1

and the means of adjustment determine a global estimation Δ

U according to the formula

space="preserve" listing-type="equation">Δ

U=.sub.Δ

.sbsb.U +.sub.d.sbsb.U

the covariance matrix Σ

_U⁺ of the residual error Δ

U⁺ after adjustment being defined by the formulae

space="preserve" listing-type="equation">Δ

U.sup.+ =Δ

U-Δ

U,

space="preserve" listing-type="equation">Σ

.sub.U.sup.+ =(I-K.sub.2.H*).Σ

*.sub.U

5. The system as claimed in claim 3, wherein the covariance matrix Σ

η

of the alignment error vector is equal to;

##EQU34## with δ

_a denoting the estimated standard deviation of the numerical noise of the alignment procedure, and δ

_h and δ

_z denoting respectively the estimated standard deviations of the horizontal and vertical location errors of the reference map.

6. The system as claimed in claim 2, wherein the terms α

i, β

i, and A and B are determined according to the following relations;

##EQU35## in which;

##EQU36## is the estimate of the relative velocity of the SAR antenna of the radar, the estimated coordinates of the phase center of which are;

##EQU37## V⊥

is the ortho-velocity equal to ##EQU38## R_o =.sup.→

_P .sbsb.s.sup.→

_P.sbsb.M is the direction of sighting of the point M on the ground with coordinates ##EQU39## the values P_s, V_s, V⊥

, P_M, Ro being expressed in an orthonormal reference frame T=(O, X, Y, Z) defined at the estimated current point of the trajectory by;

O;

origin, point on the ground at the estimated vertical of the phase center of the SAR antenna;

Z;

upward vertical passing through the estimated position of the phase center of the SAR antenna;

X and Y;

in the horizontal plane beneath the craft, such that the estimated relative velocity .sup.→

_V.sbsb.s of the antenna is contained in the plane (XOZ) and is directed towards the positive x axis,

these values P_s, V_s, V⊥

, P_M, Ro being, in a reference frame, equal to;

##EQU40##