Unmanned aerial vehicle integrated navigation system based on SINS/TAN/ADS/MCP

被引：0
|
作者：
Tang J. [1 ]
Hu W. [1 ]
Liu X. [1 ]
Yin J. [1 ]
Shan Y. [1 ]
机构：
[1] Stated-owned Wuhu Machinery Factory, Wuhu
来源：
Zhongguo Guanxing Jishu Xuebao/Journal of Chinese Inertial Technology | 2018年 / 26卷 / 01期
关键词：
Federated Kalman filter; Information fusion; Integrated navigation; Unmanned aerial vehicle;
D O I：
10.13695/j.cnki.12-1222/o3.2018.01.006
中图分类号：
学科分类号：
摘要：
In order to realize high-precision and high-reliability navigation of unmanned aerial vehicle, an integrated navigation system with the aid of SINS (strapdown inertial navigation system), TAN (terrain aided navigation), ADS (air data system) and MCP (magnetic compass) was presented. The principles of SINS, TAN, ADS and MCP were analyzed, the mathematic models of SINS/TAN, SINS/ADS and SINS/MCP were constructed, and finally the federated Kalman filter was used to fuse navigation information. Simulation experiment shows that the SINS/TAN can achieve high positioning precision, but its heading error is large. The SINS/ADS can achieve high velocity precision, but it has the divergence problem of position error. The SINS/MCP's heading error can reach 0.3783', but its position and velocity accuracies are unsatisfactory. Whereas the proposed integrated navigation system can overcome the above shortcomings and obtain high accuracies of all the navigation parameters. © 2018, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.
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页码：33 / 38
页数：5
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