基于INS/BD-2组合的无人机导航算法研究  

Research on INS/BD-2 Integrated Based UAV Navigation Algorithm

作　　者：柳明[1] 高斌[1] 

机构地区：[1]滨州学院航空信息技术研发中心,山东滨州256603

出　　处：《滨州学院学报》2012年第6期49-52,共4页Journal of Binzhou University

基　　金：滨州学院博士学位人员科研启动费项目(2009Y04)

摘　　要：无人机在军事、民用领域发挥着越来越重要的作用,提高无人机导航系统的精度有十分重要的意义.为达到提高无人机导航精度的目的,将惯性导航系统(INS)与中国北斗二号(BD-2)相融合,提出了INS/BD-2组合的无人机导航策略.经过分析,建立了基于间接法的系统模型,其测量方程为非线性方程.在组合导航算法上采用了处理非线性问题常用的粒子滤波算法对组合导航系统进行解算,并通过MATLAB软件对算法进行了仿真分析,仿真结果证明,与传统的EKF算法相比,该算法可提高组合导航系统的导航精度.UAVs play an increasingly important role in military and civilian fields, and it is of great significance to improve the accuracy of the UAV navigation system is of great significance. To improve the accuracy of the UAV navigation,the UAV navigation strategy that Inertial Navigation System （INS） integrated with the BD- 2 is proposed. The system model based on the indirect method is establised after analysis, and the measurement equation is nonlinear equation. The particle filter algorithm for processing nonlinear problem is used in Navigation algorithm, and simulation analysis is done by MATLAB soft-ware. The simulation results show that, compared with traditional EKF algorithm, the particle filter algo- rithm can improve the navigation accuracy of the integrated navigation system.

关 键 词：无人机 INS 组合导航 

分 类 号：V249[航空宇航科学与技术—飞行器设计]