基于SINS/GPS的无人机组合导航系统建模与仿真  

Modelling and simulation of SINS/GPS intergrated navigation system for UAV

作　　者：王磊 史丰丰 寇凯洋 张钊 

机构地区：[1]北京卫星导航中心,北京100094

出　　处：《测绘工程》2016年第10期17-19,共3页Engineering of Surveying and Mapping

摘　　要：根据无人机的飞行特点以及SINS(捷联惯导)和GPS(全球定位系统)的优缺点,利用轨迹发生器设计无人机的飞行轨迹,建立基于SINS/GPS的无人机组合导航系统,依据卡尔曼滤波的相关原理对系统进行数学建模和计算仿真,验证无人机SINS/GPS组合导航系统的可靠性。According to the flight characteristic of UAV and the advantages and disadvantages of SINS and GPS ,the trajectory generator is used to design the flight trajectory of UAV ,and a UAV navigation system based on the SINS/GPS integrated navigation is set up .The theory of Kalman filter is adopted in the relative calculation and simulation of the system .The result of simulation can verify the reliability of SINS/GPS integrated navigation for UAV .

关 键 词：无人机 飞行轨迹 SINS/GPS组合导航 卡尔曼滤波 

分 类 号：F291.1[经济管理—国民经济]