小型无人机GPS／航程推算组合导航系统研究

探讨了在无人机上发展ＧＰＳ／航程推算自式组合导航系统的必要性和可行性；对利用ＧＰＳ定位信息进行导航时所需的坐标转换问题作了分析研究；并对研制的ＧＰＳ／航程推逄组合导航系统的设计思想，总体方案，工作原软硬件结构作了介绍，给出了在小型无人机上进行导航试验的结果。

An Integrated GPS/DR Navigation System for Mini Remotely Piloted Vehicles

Recently,many methods have been presented to discuss the integrated GPS navigation systems2,3,4]. This paper deals with a practical integrated GPS/DR navigation system for mini remotely piloted vehi- cles(RPVs).The main features of such a practical system are: (1)It is a multisensor navigation system which integrates the positioning information of GPS with that of Dead Reckoning (DR) system.Compared with the conventional integrated GPS/INS systems2,3],the present system has the advantages of low-cost,small size,light-weight and simplicity in construction. (2)The model used not only permits the positioning information to be conveyed thoroughly,but also takes into consideration the dynamic altitude parameters of the aircraft. (3)This integrated GPS/DR navigation algorithm designed allows the navigation accuracy to be several orders of magnitude higher than that of the original DR algorithm.Monte Carlo simulation indi- cates indeed that the algorithm possesses more efficiency,higher accuracy,quicker convergence and better tracking performance. This integrated GPS/DR navigation system has been applied to the navigation control of mini remotely piloted vehicles developed by the Institute of Pilotless Mini-Aircraft,Northwestern Polytechnical University.It has been flight tested more than twenty times.The navigation results,ob- tained with this integrated system,both in ground simulation and flight testing,are rather satisfactory.