船载无人机惯性导航系统中的数据实时融合算法  

Data real-time fusion algorithm in ship borne UAV inertial navigation system

作　　者：郑金松 谷海红 蒋庆刚[1,2] ZHENG Jin-song;GU Hai-hong;JIANG Qing-gang(Hebi Institute of Engineering and Technology,Henan Polytechnic University,Hebi 458030,China;Hebi Polytechnic,Hebi 458030,China)

机构地区：[1]河南理工大学鹤壁工程技术学院,河南鹤壁458030 [2]鹤壁职业技术学院,河南鹤壁458030

出　　处：《舰船科学技术》2022年第10期131-134,共4页Ship Science and Technology

基　　金：河南省科技攻关项目(212102310488)。

摘　　要：船载无人机惯性导航系统集成了加速度计、陀螺仪、GPS等惯性组件,是船载无人机定位、导航、着舰控制等过程不可或缺的系统,本文重点对船载无人机惯性导航系统的多传感器数据实时融合算法进行研究,分析惯性导航系统的整体工作原理,分别从系统组件、坐标转换原理、无人机姿态解算、时间和空间位置数据融合等方面进行了详细分析,研究结果对于提高船载无人机导航精度有一定意义。The inertial navigation system of ship borne UAV integrates inertial components such as accelerometer,gyroscope and GPS.It is an indispensable system for the positioning,navigation and landing control of ship borne UAV.This paper focuses on the multi-sensor data real-time fusion algorithm of ship borne UAV inertial navigation system,and analyzes the overall working principle of inertial navigation system,including system components,coordinate conversion principle The attitude calculation of UAV and the data fusion of time and space position are analyzed in detail.The research of this paper is of great significance to improve the navigation accuracy of ship borne UAV.

关 键 词：船载无人机 惯性导航系统 多传感器 数据融合 姿态解算 

分 类 号：U605.26[交通运输工程—船舶与海洋工程]