地磁辅助的无缝INS/GPS组合导航研究

Study of Geomagnetic Matching Aided Seamless INS/GPS Integrated Navigation

INS/GPS组合导航已经成为当前无人机导航系统的主要实现形式,由于GPS信号容易受到干扰,在恶劣的电磁环境下信号易丢失,从而导致GPS卫星信号失锁而无法使用。地磁导航作为一种无源导航方法,其难以受到外界干扰且具有较强的自主性,从而为克服GPS在干扰情况下无法对INS误差实现持续无缝修正的不足提供了很好的途径。针对INS/GPS组合导航中GPS卫星信号失锁的情况,设计提出了使用地磁匹配导航进行辅助实现无人机无缝导航的实现方案,设计了基于地磁特征的地磁匹配算法和地磁匹配辅助的INS/GPS组合无缝自主导航算法,并通过仿真验证了采用地磁匹配辅助导航方法,可以在GPS无效的情况下,实现对INS导航误差的持续无缝修正,从而提高导航系统性能。

INS/GPS Integrated navigation has signal is susceptible to interference, and easily become the main form of the lost in bad electromagnetism UAV navigation system. GPS environment,which could re- suit in GPS outages. Geomagnetic navigation, as a passive navigation method, is unsensitive to disturb- ances from outside and has considerable independence. These characteristics provide a promising way to overcome the disadvantages of GPS which cannot achieve consistent seamless correction to the INS errors. Aimed at the situation of GPS outages, this paper proposed a geomagnetic matching navigation aided UAV seamless navigation system. It also proposed the geomagnetic matching algorithm of geomagnetic field fea- ture and geomagnetic matching aided INS/GPS integrated seamless autonomous Navigation Algorithm. The simulation verified the method aided by geomagnetic matching navigation can achieve consistent seamless correction to the INS errors and improve the performance of navigation system during GPS outages.