轻型无人机的GNSS/IRS组合导航系统研究

Research on GNSS/IRS Integrated Navigation System for Light UAV

近年来轻型无人机以其尺寸紧凑、成本低、功耗低的优势被广泛应用于军事、民用领域。在无人机的导航方式上,卫星导航和惯性导航各有其优势和缺陷,采用单一导航难以满足无人机导航的性能要求。基于此提出一种GNSS/IRS组合导航系统,设计了捷联IRS模块并分析了其误差传播模型,通过前馈校正和扩展滤波的方式使得系统测量结果准确有效。

In recent years,light drones have been widely used in military and civilian fields due to their compact size,low cost and low power consumption.In the navigation mode of drones,satellite navigation and inertial navigation each have their own advantages and disadvantages.It is difficult to meet the performance requirements of UAV navigation with a single navigation.In this paper,a GNSS/IRS integrated navigation system is proposed.The strapdown IRS module is designed and its error propagation model is analyzed.The system measurement results are accurate and effective through feedforward correction and extended filtering.