摘要
针对无人飞行器行业的快速发展和导航系统对飞行器的重要性,提出了组合导航系统的融合方案。介绍了捷联惯导系统的原理、姿态算法。通过对惯性传感器进行误差标定和补偿,利用扩展卡尔曼滤波器建立了INS/GPS组合导航系统。仿真实验表明,组合导航系统的工作性能要优于纯惯性导航系统,能够为飞行器提供较高的导航精度。最后,将这种组合导航系统在四旋翼无人飞行器上进行了实现。
An information fusion scheme based on the inertial navigation system （INS）/GPS integrated navigation system is pre- sented according to the rapid development of unmanned aerial vehicle （UAV）industry and the importance of navigation system on UAV. The principle of strapdown inertial navigation and the algorithm of attitude matrix are carried out in this paper. Then, the extended Kalman filter of INS/GPS integrated navigation system is built up after calculating and compensating the sensor error. Sim- ulation results show that the working performance of the integrated navigation system is better than that of the pure inertial naviga- tion system and can provide high precision of navigation for UAV. Finally, the integrated navigation system is realized on the quad-rotor UAV.
出处
《电子技术应用》
北大核心
2015年第5期167-170,共4页
Application of Electronic Technique
基金
国家自然科学基金项目(61376028)
关键词
无人机
惯性导航系统
组合导航系统
卡尔曼滤波器
unmanned aerial vehicle
inertial navigation system
integrated navigation
Kalman filter
