基于INS/SMNS紧耦合的无人机导航

INS /SMNS tightly-coupled navigation for unmanned aerial vehicle

为了克服无人机惯性导航系统漂移误差累积的缺陷,提出了基于INS/SMNS紧耦合的无人机导航模式(INS/SMNS)。它利用INS提供的位置和姿态角信息分别完成对无人机的粗定位和航拍实时图像的几何校正,提高了SMNS的实时性和适配区景象匹配的精确度;同时,利用SMNS的高精度导航定位结果修正了INS的累积误差。通过INS与SMNS之间的优势互补,使得紧耦合INS/SMNS导航模式具有更好的实时性和精确性。仿真实验表明,紧耦合模式满足无人机规划航迹要求。

To eliminate the drawback that INS （inertial navigation system） errors are accumulated with time,a tightly-coupled INS/SMNS （Scene Matching Navigation System） integrated navigation system is put forward for unmanned aerial vehicles （UAV）.It can roughly position the UAV and correct the geometric distortion of real-time graph by INS-provided position and orientation information.Therefore,the real-time and precision in suitable-matching area of SMNS can be improved obviously.Meanwhile,the accumulation error of INS is corrected by using the high-accuracy positioning of SMNS.With the complementary advantages between SMNS and INS,the tightly-coupled INS/SMNS navigation system can obtain significantly improved real-time performance and accuracy.The experiment results show that the proposed system meets the route planning requirements of UAV.