摘要
针对实际应用中单一导航系统已难以满足要求的现状,提出了惯性/卫星/天文组合导航系统。基于卡尔曼滤波对惯性/卫星组合导航系统进行仿真分析,结果表明惯性/卫星组合导航的位置和速度精度可基本满足无人机的一般需求,但姿态精度相对较低。为提高组合导航系统的姿态精度,又引入天文导航系统的姿态信息,设计了基于联邦滤波的惯性/卫星/天文组合导航系统,并进行了可行性验证。
In view of the fact that the single navigation system in practical application can no longer meet our requirements,an UAV integrated navigation schemes was proposed based on INS/GPS/CNS.Firstly,the SINS/GPS integrated navigation system which based on Kalman Filter is simulated and analyzed in this paper.The results show that the position and velocity accuracy of INS/GPS integrated navigation can basically meet the general requirements of UAV,but the attitude accuracy is relatively low.In order to improve the attitude accuracy,based on federal filter,previous method combined with attitude information of CNS which is called SINS/GPS/CNS integrated navigation has been introduced and proved in this paper.
作者
胡东斌
刘君强
潘春露
HU Dong-bin;LIU Jun-qiang;PAN Chun-lu(College of Civil Aviation,Nanjing University of Aeronautics and Astronautics,Nanjing 211000,China)
出处
《航空计算技术》
2021年第1期41-45,共5页
Aeronautical Computing Technique
基金
国家自然科学基金与中国民航基金联合项目资助(U1533128)
南京航空航天大学研究生创新基地(实验室)开放基金项目资助(kfjj20190716)。
关键词
无人机
组合导航
卡尔曼滤波
联邦滤波
UAV
integrated navigation
Kalman filtering
federal filter
作者简介
胡东斌(1995-),男,浙江绍兴人,硕士研究生,主要研究方向为组合导航、人工智能算法的研究。
