一种掠海无人飞行器SINS/RA/GNSS高度融合估计

Altitude Fusion Estimation for Sea-Skimming UAV with SINS/RA/GNSS

研究了掠海无人飞行器SINS/RA/GNSS组合导航的高度融合估计问题。对SINS为公共参考系统的无重置式联邦融合估计方案,提出以SINS天向加速度为量测基准的高度滤波方法,并采用最小二乘估计技术解决导航设备数据更新频率不同导致的量测异步融合问题。仿真结果证明了设计方案的可行性,能够有效提高系统的精度和容错性。

Based on the information fusion theory of multi--sensors, the paper presented a SINS/RA/GNSS federated Kalrnan filter for the altitude information of sea--skimming unmannered aerial vehicle （UAV）. The vertical acceleration measured by the SINS which consti- tutes local filters with the RA and GNSS is inputted as the public measurement. The least square （LS） algorithm is applied to synchronize the asynchronous data as the update frequencies of the equipments are different. This method can provide significant improvements in fault toler- ance. The simulation results proved the feasibility of the design.