长航时无人机惯性/天文组合导航算法研究  

Study on Long Endurance UAV SINS/CNS Integrated Navigation Algorithm

作　　者：王颖[1] 李岁劳[1] 张梦妮[1] 龚柏春[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710072

出　　处：《计算机仿真》2012年第5期47-50,共4页Computer Simulation

摘　　要：针对捷联惯导/GPS组合导航系统的抗干扰性差、捷联惯导/星敏感器组合系统不能解决惯导位置发散的问题,提出了一种采用捷联惯导与基于间接敏感地平的天文导航相组合的长航时无人机导航新方案。分析了最小二乘微分校正天文定位方法对无人机的定位原理,设计了组合导航的滤波器,推导了系统的观测矩阵。仿真结果证明,组合方法能较好地实现无人机的定位定姿,具有较强的抗干扰性和较高精度,可以满足长航时无人机导航系统的要求。SINS/GPS integrated navigation system is disturbed easily and the position of SINS/star sensor integrat- ed system is emanative. To solve the problems mentioned above, a new method using SINS and CNS for long endur- ance UAV was proposed, in which CNS was based on indirect sensing earth horizon. In this paper, the principle of the least squares differential correction method for celestial localization was analysed. Also, we designed the filter of the system, and deduced the observation matrix. Finally, the simulation results show that the proposed algorithm can acquire accurate attitude and position of the UAV. The system has high reliability and accuracy, and can meet the requirement of the navigation system of long endurance UAV.

关 键 词：长航时无人机 天文定位 捷联惯导 组合导航 

分 类 号：V249.328[航空宇航科学与技术—飞行器设计]