摘要
针对战时GPS不可用的情况,提出一种基于地标图像信息的惯导系统误差校正方法来提高自主性。该方法通过在地面设置一个标志点,使用无人机前视摄像头探测目标并进行人工识别,辅助以磁罗盘抑制航向角的发散趋势,高度通道用气压计进行阻尼,从而获得无人机的位置信息,最后通过Kalman滤波器实现对惯导系统的闭环修正。飞行试验表明,该方法能获得较高的定位定向精度,对小型无人机对地观测、侦查能力的提升具有重要意义。
A method to correct INS errors based on the landmark-image is described when GPS is not available due to interference. Using the photoelectric system fixed on single axis gyro platform,the position of a UAV can be calculated through artificial detecting. The heading angle divergent trend can be eliminated by using the magnet compass. And the vertical channel can be damped by a barometer. At last the INS errors can be corrected through a Kalman filter. The flight test results indicate that this method can bring high positioning and orienting precision. The system is independent,so the abilities of land observation and spying are improved extremely.
出处
《遥测遥控》
2013年第5期21-26,共6页
Journal of Telemetry,Tracking and Command
