基于视觉/GPS/MEMS-SINS的微型飞行器姿态确定系统  

The Attitude Determination for Micro Air Vehicles Based on Integrated Vision/GPS/MEMS-Strapdown Inertial Navigation System

作　　者：李荣冰[1] 刘建业[1] 熊智[1] 

机构地区：[1]南京航空航天大学导航研究中心,南京210016

出　　处：《上海交通大学学报》2006年第12期2155-2158,2163,共5页Journal of Shanghai Jiaotong University

基　　金：国防科技预研基金(514090301);航空科学基金(04D52030)资助项目

摘　　要：分析了微型飞行器姿态确定系统的现状,提出利用视觉/GPS/MEMS-SINS组合导航系统确定微型飞行器姿态的方案.微型飞行器获取图像中天空和大地的特征不同,其间隐含了载体的姿态信息,在GPS和MEMS-SINS组合的基础上,将所隐含的载体姿态信息作为新增的观测量.建立了组合系统的卡尔曼滤波器模型,并进行了静态和动态仿真.结果表明,视觉/GPS/MEMS-SINS组合导航系统是微型飞行器自主姿态确定的有效方案,增加视觉姿态后,滤波器中惯性导航系统平台误差角的可观测性得到了增强,姿态估计精度也得到了提高.The development of attitude determination for micro air vehicles（MAY） was analyzed, and an integrated vision/GPS/MEMSSINS was presented as a new scheme of attitude determination for MAV. The integrated system fuses MEMS-SINS, GPS and vision attitude derived from the images which are acquired by the image sensor of MAV. The Kalman filter（KF） for the integration, specially its observation equations for state of platform error angles was educed from the cosine matrixes describing the relative orientation of the frames. The results of static and dynamic simulations indicate that the vision/GPS/ MEMSr-SINS integrated navigation system is effective and self-contained for attitude determination of MAV and the attitude based on vision image improves the observability of the attitude error in KF state vectors.

关 键 词：微型飞行器 姿态确定系统 组合导航 

分 类 号：V241.62[航空宇航科学与技术—飞行器设计]