无人机多源导航信息自主管理方法研究

Autonomous management method of multi-source navigation system on unmanned aircraft vehicle

完全依赖卫星导航信息融合的方案自主性差、完好性难以保证;而完全利用其它自主导航的方式,精度也难以保证,针对这些问题,提出了基于混合式架构的多源导航信息自主管理方法.利用联合故障检测方法,解决了对卫星干扰的有效检测,使完好性得到保证;设计了基于D–S证据推理的信息优选策略,针对典型无人机任务场景进行了仿真分析,结果表明信息优选策略降低了多故障检测方法同时应用的虚警率,提高了导航精度.

A hybrid architecture based multi-sensor self-manage method is developed, since the autonomy and integrity of the information fusion strategy, which fully depends on the global navigation satellite system（GNSS）, can not be guaranteed, while as the accuracy of the other autonomous navigation methods. The GNSS jam detection problem is solved by utilizing the joint failure diagnose method, so the integrity is satisfied. An information optimization strategy which is based on the D–S evidence reasoning theory is proposed. A simulation analysis is carried out towards typical scenes of the unmanned aircraft vehicle（UAV） missions. The experiments show that the information optimizing strategy can effectively reduce the false alert rate when multiple failure detection methods are simultaneously used, and the navigation accuracy is improved.