基于四元数法的舰载无人机回收系统测高技术研究

Height Measuring Approach Based on Quarternion for Shipborne UAV Recovery System

文章针对舰载无人机在着舰回收过程中,由于海浪颠簸对引导系统高度测量严重干扰的问题,利用四元数导航算法提出了一种新型的舰载无人机回收系统测高方法。首先采用捷联惯导测高系统设计方案,同时利用微机械的惯性测量组件,提高系统的可靠性和集成度;然后,利用四元数导航算法求取各个姿态方位参数,再用旋转矢量法补偿不可交换性误差,推导出舰船甲板的升沉高度实际值,为克服传统纯惯导测量算法的不稳定性,提出一种具有三阶阻尼特性的互补滤波器算法,并在测量系统输入端加入巴特沃斯滤波器去除杂波干扰,得到需要测量的高度变化值。最后,通过对比传统纯惯性方法下测高系统输出值、加入真实气压表互补滤波后测高系统输出值和加入零均值阻尼信号互补滤波测高系统输出值,三种不同情况下的仿真结果,验证了所提方案的有效性。

In this paper, a new height measuring approach for the shipborne Unmanned Air Vehicle （UAV） recovery system is proposed by using the quarternion navigation algorithm owing to the disturbance caused by the the ups and downs of deck. Firstly, the scheme of strapdown inertial navigation system （S/NS） is designed. Considering the advantages of Micro Electro Mechanical Systems （MEMS）, such as its high integration and reliability, which can bear abominable climate environment and mechanical environment, this paper puts for- ward a MEMS SINS. Then all navigation parameters of attitude and orientation including height are deduced based on the quaternion, and unexchangeable error is avoided by rotation vector approach. To overcome the instability, a complementary filter is proposed, while to eliminate clutter interference, a Butterworth filter is designed. Finally, by comparing the single inertial navigation system, the system added true barometer and the system added zero mean damping signal, simulation results are givento domenstrate the effectiveness of the proposed approach.