摘要
高精度导航系统作为无人机自主控制的核心,已成为制约无人机性能提升的关键因素。SINS/GPS(strapdown inertialnavigation system/global positioning system)组合导航系统由于GPS信号易受干扰而无法满足无人机长时间稳定精确导航的需要。在分析大气数据系统特性的基础上,推导了捷联惯导与大气空速、高度误差模型,建立了SINS/ADS(air data system)量测方程,并设计了大气数据系统辅助的SINS/GPS松组合导航系统;针对ADS和GPS输出频率不一致的问题,提出了时间更新和量测更新分离的异步滤波算法。实际跑车验证结果表明,设计的系统能够在GPS受干扰的情况下有效提高系统的精度和稳定性,定位精度可以达到25 m。
High precision navigation system is the key technology of UAV （unmanned air vehicles） autonomous control, which has been a major constraint on the improvement of UAV performance. SINS/GPS（ strapdown inertial nav-igation system/global positioning system） integrated navigation system can not meet the need of UAV navigation accuracy and stability in long time because GPS signal is susceptible to interference. Based on the analysis of the characteristics of air data system, the SINS/ADS（ air data system） error model is derived based on the attitude and air- speed information provided by pressure sensors, and the SINS/ADS measurement equation is established. The SINS/ GPS integrated navigation system assisted by air data system is designed. Aiming at the output frequency inconsistency between GPS and ADS, an asynchronous centralized Kalman filter is designed for separating the time update period and measurement update period. Actual operation experiments on vehicle confirm that the designed system can effectively improve the accuracy and stability of the system under interference condition, and the positioning accuracy can reach 25m.
出处
《仪器仪表学报》
EI
CAS
CSCD
北大核心
2012年第9期1961-1966,共6页
Chinese Journal of Scientific Instrument
基金
国家自然科学基金(60904091
91016019
61104188)
国家973计划(2009CB724002)
航空科学基金(20090852012)
江苏高校优秀科技创新团队-飞行器智能导航
控制与健康管理
江苏省高校优势学科建设工程
南京航空航天大学基本科研业务费专项研究基金(NP2011049)资助项目
关键词
捷联惯导
大气数据系统
组合导航
松组合
卡尔曼滤波
strapdown inertial navigation system（SINS）
air data system（ADS）
integrated navigation
loose coupling
Kalman filter
