抗电磁干扰的无人机GPS/INS组合导航方法

无人机应用于电力巡线时,高压电力故障导致的异常放电可能会产生复杂而且强大的电磁场,会严重影响GPS的信号质量和定位精度,影响无人机的正常导航,因此必需考虑电磁环境对GPS信号和无人机导航性能的影响。提出一种根据GPS数据可信度进行加权的自适应卡尔曼滤波导航算法,通过GPS和内部导航系统(INS)的数据偏差幅度反映GPS数据可信度,利用模糊逻辑算法计算加权值,分配GPS在组合导航中的权重,研发出一种结合GPS和INS的模糊组合导航方法。仿真和实验结果显示,该算法在GPS数据受电磁干扰失真的情况下,调整GPS数据在组合导航中的权重,使组合导航输出的位置和速度误差控制在可行范围内,保证了组合导航的精度。

An Anti-Electromagnetic Disturbance Navigation Method Combined GPS/INS for Unmanned Aerial Vehicle

When unmanned aerial vehicles(UAV)is applied to power line inspection, the complex and powerful electromag- neticfield which is caused by the abnormaldischarge of the high-voltage power failures will affect the quality and positionaccuracy of Global Positioning System(GPS)signals seriously,affecting the normal navigation of the UAV,therefore, it is essential to consider the effects of the electromagneticenvironmentonperformance of UAVnavigation.Aweighted adaptive Kalman filteringintegrated navigation algorithm was proposed based on the credibility of the GPS data,this papar develops an fuzzy navigation method combining GPS and INS throughreflecting the credibility of GPS by comparing the deviation range of GPS and Inner Navigation System(INS)data, using fuzzylogicalgorithmto calculate the weighted values and distributing the weight of GPS integrated navigation system.Simulation and experimental results show that the algorithm can adjusts the weight of GPS data in the integrated navigation when the GPS data is distorted by the electromagnetic interference,the position and velocity error of the integrated navigation output is controlled within the feasible range,ensure the accuracy of integrated navigation.