针对不同视场辅助信标的无人机目标定位方法

Target location method of unmanned aerial vehicle direct at aided beacon in different field of view

针对无人机在单站测角测距的目标定位过程中受无人机姿态角误差影响较大的问题,提出一种对辅助信标进行探测并与惯性传感器相结合的无人机姿态求解方法。建立基于容积卡尔曼滤波的惯性传感器姿态求解模型,采用梯度下降法对基于辅助信标的无人机位姿参数进行求解,并综合它们的结果对无人机的姿态偏差进行估计和校正,最后完成了不同视场条件下的目标定位和仿真计算。结果表明,所提方法对无人机目标定位精度有明显提高。

Aimed at the problem that the UAV′s(unmanned aerial vehicle′s) single station angle and distance measurement are greatly affected by the UAV′s attitude angle error,a method was proposed to solve the UAV′s attitude by detecting the auxiliary beacon and combining with the inertial sensor. The attitude solving model of inertial sensor based on cubature Kalman filter was established. By using the gradient descent method,the attitude parameters of UAV based on auxiliary beacons were solved,and the results were comprehensively used to estimate and correct the attitude error of UAV. Finally the targets′ location and simulation calculation under different fields of view were completed. The results show that the proposed method can improve the precision of UAV target location.