基于多传感器融合的组合导航方法研究

本文提出一种基于多传感器融合的组合导航方法,能够在小型旋翼无人机上实现低成本、高精度导航定位.该方法通过建立导航系统的机械编排模型,设计了一个17状态的扩展卡尔曼滤波器(EKF).对加速计的零偏和陀螺仪的漂移进行在线估计,实时的补偿传感器的测量误差.从而对旋翼无人机的速度、位置、角速度和姿态等参数进行精确的估计.通过对实际飞行数据仿真实验,并对比参考的导航系统,证明该方法在飞机的全包线飞行下均能够解算出可靠的导航信息。

In order to realize the low-cost and high precision navigation system used in rotor unmanned aerial vehicle(RUAV),a multi-sensor data fusion method for integrated navigation system is proposed.The method set up the mechanizations model of the intergrated navigation system and designed a 17 states extended Kalman filter(EKF).This filter can estimate the bias of accelerometers and drift of gyroscopes online,and compensate the measurement errors of different sensors in real time.The method can calculate the ve...

国家“863”高技术计划重点项目(2007AA041503)