中文摘要：

针对高空、长航时无人飞行器在对地观测成像期间对导航自主性和高精度的需求,研究了基于SAR辅助的惯导/星光姿态组合导航系统。针对SAR图像导航输出的间断性和多传感器组合导航系统中量测输出的不同步特性,设计了解决非连续性量测修正的多传感器组合导航滤波器模型。提出了解决多传感器量测不同步问题的异步集中滤波算法。仿真结果表明：设计的组合导航系统在对地观测成像期间具有较高的的自主性和导航精度,能极大地改善无人飞行器在对地成像任务时的导航精度。

英文摘要：

Considering that the HALE UAV has high requirement to the autonomous navigation performance and precision during the imaging,the INS/star attitude integrated navigation system aided by the SAR is researched.Combining the disconnected output characteristic of the SAR image navigation and the asynchronous characteristic of the multi-sensor integrated navigation system,the multi-sensor integrated navigation filter model is designed which is applied to solve the discontinuous measurement modified value.The unequal interval asynchronous aggregated filter algorithm of the integrated navigation system is proposed.Simulation result indicates that the designed integrated navigation system can improve high-sky autonomous navigation performance and navigation precision during the SAR imaging,and have substantially improved the navigation precision of the HALE UAV.