组合导航系统在四旋翼无人机上的实现

针对无人飞行器行业的快速发展和导航系统对飞行器的重要性,提出了组合导航系统的融合方案.介绍了捷联惯导系统的原理、姿态算法.通过对惯性传感器进行误差标定和补偿,利用扩展卡尔曼滤波器建立了INS/GPS组合导航系统.仿真实验表明,组合导航系统的工作性能要优于纯惯性导航系统,能够为飞行器提供较高的导航精度.最后,将这种组合导航系统在四旋翼无人飞行器上进行了实现....

Full description

Saved in:
Bibliographic Details
Published in电子技术应用 Vol. 41; no. 5; pp. 167 - 170
Main Author 黄建 胡越黎 杨文荣 冉峰
Format Journal Article
LanguageChinese
Published 上海大学机电工程与自动化学院,上海,200072%上海大学机电工程与自动化学院,上海200072 2015
上海大学微电子研究与开发中心,上海200072%上海大学微电子研究与开发中心,上海,200072
Subjects
卡尔曼滤波器
惯性导航系统
无人机
组合导航系统
unmanned aerial vehicle
组合导航系统
Kalman filter
无人机
惯性导航系统
integrated navigation
卡尔曼滤波器
inertial navigation system
Online AccessGet full text
ISSN0258-7998
DOI10.16157/j.issn.0258-7998.2015.05.042

Cover

More Information
Summary:针对无人飞行器行业的快速发展和导航系统对飞行器的重要性,提出了组合导航系统的融合方案.介绍了捷联惯导系统的原理、姿态算法.通过对惯性传感器进行误差标定和补偿,利用扩展卡尔曼滤波器建立了INS/GPS组合导航系统.仿真实验表明,组合导航系统的工作性能要优于纯惯性导航系统,能够为飞行器提供较高的导航精度.最后,将这种组合导航系统在四旋翼无人飞行器上进行了实现.
Bibliography:An information fusion scheme based on the inertial navigation system （INS）/GPS integrated navigation system is pre- sented according to the rapid development of unmanned aerial vehicle （UAV）industry and the importance of navigation system on UAV. The principle of strapdown inertial navigation and the algorithm of attitude matrix are carried out in this paper. Then, the extended Kalman filter of INS/GPS integrated navigation system is built up after calculating and compensating the sensor error. Sim- ulation results show that the working performance of the integrated navigation system is better than that of the pure inertial naviga- tion system and can provide high precision of navigation for UAV. Finally, the integrated navigation system is realized on the quad-rotor UAV.
unmanned aerial vehicle ; inertial navigation system ; integrated navigation ; Kalman filter
Huang Jian, Hu Yueli,Yang Wenrong, Ran Feng （1 .College of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China; 2.Micr
ISSN:0258-7998
DOI:10.16157/j.issn.0258-7998.2015.05.042