无人机航向测量抗差补偿滤波技术研究  

Study on robust compensation filter of heading measurement for UAV

作　　者：任爱爱[1] 孙永荣[1,2] 胡应东[1] 陈武[2] 

机构地区：[1]南京航空航天大学导航研究中心,江苏南京210016 [2]香港理工大学大地测量与资讯学系

出　　处：《传感器与微系统》2009年第5期34-36,39,共4页Transducer and Microsystem Technologies

摘　　要：针对角速率陀螺误差随时间积累和电子磁罗盘易受外界干扰的问题,为提高低成本自主导航精度,设计了角速率陀螺和电子磁罗盘信息融合的组合方案。并对传统的补偿滤波方法进行改进,提出一种能够检测出电子磁罗盘的低频干扰,并对干扰误差进行剔除的抗差补偿滤波算法。通过对角速率陀螺和电子磁罗盘进行误差建模和仿真实验可知,抗差补偿滤波器可以有效地抑制磁罗盘高频干扰误差和角速率陀螺的积累误差,同时,也可很好地抑制磁罗盘的低频干扰误差。结果表明:研究的抗差补偿滤波算法效果明显,是一种简单可靠的航向融合方法。In view of the accumulation of errors produced by gyroscope and the interference of digital magnetic compass （ DMC ）, in order to enhance the accuracy of navigation with low cost, the program of gyroscope integrated with DMC is designed. A robust compensation filter is designed to inhibit low-frequency interference of DMC and to improve the accuracy of information integration. Simulation with gyroscope and DMC show that high-frequency interference and the accumulation of errors can be inhibited by compensation filter, in addition to the high-frequency interference and the accumulation of errors, low-frequency interference for long time can also be inhibited by the robust compensation filter,which is proofed as simple and reliable methods.

关 键 词：抗差补偿滤波 航向信息融合 电子磁罗盘 角速率陀螺 

分 类 号：V241.6[航空宇航科学与技术—飞行器设计]