GPS失效下的无人机组合导航系统  

UAV integrated navigation system under GPS failure

作　　者：柳明[1,2] 

机构地区：[1]滨州学院山东省高校航空信息技术重点实验室 [2]飞行学院,山东滨州256603

出　　处：《济南大学学报（自然科学版）》2015年第2期129-132,共4页Journal of University of Jinan(Science and Technology)

基　　金：山东省科技发展计划(2011GGA16054);山东省高等学校科技计划(J13LN74)

摘　　要：针对电力巡线无人机GPS失效下的导航问题,鉴于单一的惯性导航系统导航精度不高及高度通道发散的缺陷,利用电力巡线无人机必须配备的CCD高清相机构成单目视觉系统,组成基于单目视觉系统、气压高度计辅助的捷联惯性导航系统。系统通过事先设定的定位点信息修正导航系统的导航参数。文中给出了系统总体设计方案,建立了包括元件误差模型在内的组合导航系统模型,并进行组合导航与SINS导航对比的数值仿真。仿真结果表明,组合导航系统具有较好的容错性能,其导航精度和可靠性均有提高。The navigation of power patrol unmanned aerial vehicles（ UAV） under GPS failure is considered. As the navigation accuracy of single inertial navigation system is not high and the height channel is divergent,an integrated navigation system based on monocular vision system composed by a CCD high-definition camera which must be equipped in power patrol UAV and barometric altimeter aided SINS systems is constructed. Navigation parameters of the navigation system are corrected by predetermined anchor point＇s information. An overall system design scheme is given and a combined nabigation system model,including element error model,is established. A numerical simulation between the integrated navigation and SINS navigation is done. Simulation experiment results show that the proposed UAV integrated navigation system can improve the navigation accuracy due to the introduction of a variety of external reference information.

关 键 词：无人机 视觉导航 气压高度计 惯性导航系统 

分 类 号：P318[天文地球—固体地球物理学]