面向旋翼无人机的高精度组合导航模块设计与评估

Design and Evaluation of High Precision Integrated Navigation Module for Rotor UAV

针对行业应用对旋翼无人机连续的高精度导航定位需求,基于低成本的GNSS单频定位模块和MEMS惯导,设计了高精度的GNSS/INS组合导航模块。针对高精度要求,设计了充分保障MEMS惯导精度的原始数据采集方案。针对旋翼无人机平台的高频振动问题,分析了IMU白噪声参数对MEMS惯导和组合导航性能的影响。测试结果表明,适当的放大IMU白噪声参数可以有效改善高频振动条件下的组合导航性能;模块的定位精度可以达到厘米级且连续稳定。

Aiming at the requirement of continuous high-precision navigation and positioning for Rotor UAV in industry applications,a high-precision GNSS/INS integrated navigation module is designed based on low-cost GNSS single-frequency positioning module and MEMS IMU. For high precision,the data acquisition scheme is designed to fully guarantee the accuracy of the IMU. Due to the high frequency vibration of the rotor UAV platform,the influence of IMU white noise parameters on the performance of the inertial navigation system and the integrated navigation system is analyzed. The test results show that proper amplification of IMU white noise parameters can effectively improve the integrated navigation performance under high frequency vibration conditions,and the positioning accuracy of the module can reach centimeter level and be continuous and stable.