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....
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| Published in | 电子技术应用 Vol. 41; no. 5; pp. 167 - 170 |
|---|---|
| Main Author | |
| Format | Journal Article |
| Language | Chinese |
| 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 | |
| Online Access | Get full text |
| ISSN | 0258-7998 |
| DOI | 10.16157/j.issn.0258-7998.2015.05.042 |
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| Abstract | 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. |
|---|---|
| AbstractList | 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. V249.32; 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. |
| Author | 黄建 胡越黎 杨文荣 冉峰 |
| AuthorAffiliation | 上海大学机电工程与自动化学院,上海200072 上海大学微电子研究与开发中心,上海200072 |
| AuthorAffiliation_xml | – name: 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;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 |
| Author_FL | Huang Jian Yang Wenrong Hu Yueli Ran Feng |
| Author_FL_xml | – sequence: 1 fullname: Huang Jian – sequence: 2 fullname: Hu Yueli – sequence: 3 fullname: Yang Wenrong – sequence: 4 fullname: Ran Feng |
| Author_xml | – sequence: 1 fullname: 黄建 胡越黎 杨文荣 冉峰 |
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| ClassificationCodes | V249.32 |
| ContentType | Journal Article |
| Copyright | Copyright © Wanfang Data Co. Ltd. All Rights Reserved. |
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| DOI | 10.16157/j.issn.0258-7998.2015.05.042 |
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| DocumentTitleAlternate | Integrated navigation system implemented on the quad-rotor UAV |
| DocumentTitle_FL | Integrated navigation system implemented on the quad-rotor UAV |
| EndPage | 170 |
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| Keywords | 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 |
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| Notes | 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 |
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| PublicationTitle | 电子技术应用 |
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| PublicationYear | 2015 |
| Publisher | 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 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 |
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| Snippet | 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... V249.32; 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... |
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| SubjectTerms | 卡尔曼滤波器 惯性导航系统 无人机 组合导航系统 |
| Title | 组合导航系统在四旋翼无人机上的实现 |
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