四旋翼飞行器导航系统的数据融合方法

Data Fusion Method of Quad-Rotor Aircraft's Navigation System

以时间戳对准和故障诊断技术为核心,根据四旋翼飞行器在执行任务时的实际需要,设计了组合导航系统。该系统搭载微机电系统(MEMS)的加速度计和陀螺仪,MEMS气压计和GPS传感器。首先设计预测器对GPS的数据进行时间戳对准,使得GPS的数据和惯导(INS)的数据同步;其次用量测数据(GPS和气压计)与INS数据进行故障诊断,防止量测数据跳变以及惯导数据误差的持续增大;最后采用基于时间戳对准和故障诊断的扩展卡尔曼滤波器设计组合导航系统,从而估计出四旋翼飞行器的位置和速度信息。

Based on time stamp alignment and fault diagnosis technology, this paper designs an integrated navigation system to meet the actual requirements of the quad-rotor aircraft when executing tasks. The system is equipped with MEMS accelerometer and gyroscope, MEMS barometer and GPS sensor. First, a predictor is designed to align the time stamp of the GPS data, so as to synchronize the GPS data with the Inertial Navigation System( INS) data. Second, the measured data( from GPS and barometer) and the INS data are used for fault diagnosis, so as to prevent the jump of the measured data and the continuous increasing of the error of INS data. Finally, an extended Kalman filter based on time stamp alignment and fault diagnosis is used to design the integrated navigation system, so as to estimate the position and velocity of the quad-rotor aircraft.