基于MEMS振动陀螺的旋翼无人机组合导航算法设计

Design of Integrated Navigation Algorithm for Rotor UAV Based on MEMS Vibrating Gyro

旋翼无人机需要惯导提供准确的角速度和加速度测量信息,而由于无人机的振动会对陀螺输出噪声产生影响,进而影响无人机的飞行平稳性。因此,该文提出了一种面向旋翼无人机的组合导航算法,基于扩展卡尔曼滤波,结合全球导航卫星系统/惯性导航系统(GNSS/INS)组合导航算法和无地磁传感器的航姿参考系统算法,在一定程度上解决了GNSS失效情况下的姿态稳定问题。针对旋翼无人机对导航系统输出信息平稳性的要求,采用自适应陀螺采样平滑方法,在少量增加数据处理复杂度的前提下,降低了航姿和角速度信息的噪声,在无人机应用中实现了良好的飞行轨迹重复性和控制平稳性。

The rotor UAVs require the inertial navigation system to provide accurate angular velocity and acceleration measurement information,while the vibration of UAV will affect the output noise of gyroscope,which in turn affects the flight stability of UAV.In this paper,an integrated navigation algorithm for rotor UAV is proposed.The algorithm combines the integrated navigation algorithm of the global navigation satellite system/inertial navigation system(GNSS/INS)and the algorithm of the attitude reference system without geomagnetic sensor,which to a certain extent solves the attitude stability problem in the case of GNSS failure.In order to meet the requirement of the stability of the output information of the navigation system,the adaptive gyro-sampling smoothing method is adopted to reduce the noises of the attitude and angular velocity information on the premise of slightly increasing the complexity of data processing,and achieve good repeatability of flight trajectory and control stability in the UAV.