无人机组合导航系统信息融合方法研究

针对小型无人机通常采用的无线电导航,综合考虑无人机具体情况以及其它导航方式的特点,提出了一种将无线电导航系统(RP)、全球导航星系统(GN SS)、多普勒导航系统(DN S)、地形辅助导航系统(TAN)和景象匹配导航系统(SMN)组合起来,取长补短,构成基于联邦卡尔曼滤波器的DR/RP/GN SS/DN S/TAN/SMN组合导航系统。仿真结果表明,该方法完全可以满足导航精度的要求。

A DR/RP/GNSS/DNS/TAN/SMN Integrated Navigation System for UAV Based on Federated Kalman Filtering

Aim.The possibility exists for a UAV(Unmanned Aerial Vehicle) navigation system to secure information in several ways.To our best knowledge,the DR/RP/GNSS/DNS/TAN/SMN integrated navigation system for UAV based on federated Kalman filtering is new and,through information fusion,can provide reliable,allweather and high-precision information even when emergencies unexpectedly emerge.DR,RP,GNSS,DNS,TAN,and SMN denote respectively dead reckoning,radio positioning,global navigation star system,doppler navigation system,terrain aided navigation and scene matching navigation.In the full paper,we explain in detail our new integrated navigation system;in this abstract,we just add some pertinent remarks to listing the two topics of explanation:(A) system modeling;Fig.1 in the full paper gives the schematic of DR/RP/GNSS/DNS/TAN/SMN integrated navigation system;five subsystems DR/RP,DR/GNSS,DR/DNS,DR/TAN,DR/SMN require respectively eqs.(1) and(2),eqs.(3) and(4),eqs.(5) and(6),eqs.(7) and (8),eqs.(9) and(10) in the full paper;(B) algorithm based on federated Kalman filtering;eqs.(11) through(26) in the full paper needed for explaining this algorithm are derived.Selected simulation results,given in Figs.2 and 3 in the full paper,show preliminarily that this method can provide satisfactory navigation precision for UAV autonomous flight.