基于多传感器技术的微型飞行器智能组合导航技术研究

Research on Multi-sensor Technique-based Intelligent Integrated Navigation for MAV

微型飞行器(MAV)尺寸微小,有效载荷低,其机载导航系统在结构与原理上都与传统飞机导航系统有很大的差异,增加了系统设计的难度。提出了一种基于组合传感器技术的MAV分层次导航系统方案。在MAV姿态信息提取中,引入了一种四元数结构下的捷联惯导与GPS组合信息卡尔曼滤波方案。在此基础上,通过研究MAV现有传感器技术下的各类导航方式的适用性、精度以及可靠性,根据MAV导航系统的要求,提出了一种基于多传感器智能组合技术的MAV导航位置信息提取方案。仿真与飞行试验证明,本文的这种基于组合传感器技术的MAV分层次导航具有计算简单,精度高,可靠性好的优点。

Flight control and navigation system design plays an important role in MAV design.Compared with traditional airplane,MAV is quite different and has more technical difficulties in navigation system design because of its small size and low payload.Within the limits of MAV space and payload,we presented a multi-sensor technique based two-stage navigation system.An INS/GPS based Kalman Filter solution was introduced in attitude estimate stage.We studied the precision,applicability and reliability of three kinds...