基于SINS/TAN/ADS/MCP的无人机组合导航系统

Unmanned aerial vehicle integrated navigation system based on SINS/TAN/ADS/MCP

为实现无人机高精度高可靠性导航,提出了一种以捷联惯性导航系统(SINS)为主,以地形辅助导航(TAN)、大气数据系统(ADS)及电子磁罗盘(MCP)为辅的组合导航方式。通过分析SINS、TAN、ADS及MCP单一系统的工作原理及输出误差模型,构建了SINS/TAN、SINS/ADS及SINS/MCP系统的状态方程及观测方程,最后采用联邦卡尔曼滤波方式实现了对各组合系统的信息融合。仿真数据对比表明:SINS/TAN系统位置误差较小,但航向误差较大;SINS/ADS系统速度误差较小且比较稳定,但位置误差随时间发散;SINS/MCP系统航向误差方差可达0.3783’,但其位置和速度估计精度不理想;而SINS/TAN/ADS/MCP系统能够克服上述不足,实现所有导航参数误差估计的高精度。

In order to realize high-precision and high-reliability navigation of unmanned aerial vehicle, an integrated navigation system with the aid of SINS（strapdown inertial navigation system）, TAN（terrain aided navigation）, ADS（air data system） and MCP（magnetic compass） was presented. The principles of SINS, TAN, ADS and MCP were analyzed, the mathematic models of SINS/TAN, SINS/ADS and SINS/MCP were constructed, and finally the federated Kalman filter was used to fuse navigation information. Simulation experiment shows that the SINS/TAN can achieve high positioning precision, but its heading error is large. The SINS/ADS can achieve high velocity precision, but it has the divergence problem of position error. The SINS/MCP＇s heading error can reach 0.3783＇, but its position and velocity accuracies are unsatisfactory. Whereas the proposed integrated navigation system can overcome the above shortcomings and obtain high accuracies of all the navigation parameters.