eVTOL飞行器冗余捷联惯性导航信息融合研究  

Research on Redundant Strapdown Inertial Navigation Information Fusion for eVTOL Aircraft

作　　者：胡青春[1] 黄思[1] 陈兴彬 张宁 苏庆鹏 HU Qingchun;HUANG Si;CHEN Xingbin;ZHANG Ning;SU Qingpeng(School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510640,Guangdong,China;Guangdong Productivity Promotion Center,Guangzhou 510700,Guangdong,China;Automotive Engineering Insti-tute,Guangzhou Automobile Group Co.,Ltd.,Guangzhou 511434,Guangdong,China)

机构地区：[1]华南理工大学机械与汽车工程学院,广东广州510640 [2]广东省生产力促进中心,广东广州510700 [3]广州汽车集团股份有限公司汽车工程研究院,广东广州511434

出　　处：《华南理工大学学报（自然科学版）》2024年第10期1-8,共8页Journal of South China University of Technology(Natural Science Edition)

基　　金：国家自然科学基金青年科学基金资助项目(52105148)。

摘　　要：电动垂直起降(eVTOL)飞行器的运用,作为一种未来城市交通的潜在解决方案,具有缓解城市交通拥堵和提高空中交通效率的巨大潜力。在其常用的导航系统中,通常采用组合导航和传感器余度技术来提高系统可靠性与安全性。然而,在当前导航系统的传感器余度技术中,冗余传感器只起到备份数据的作用,导致测量数据的信息利用率不高。为解决这一问题,文中以三余度的捷联惯性导航系统(SINS)和全球导航卫星系统(GNSS)的组合导航系统为研究对象,提出了一种基于二阶互差分和惯性传感器(IMU)冗余信息的陀螺仪噪声实时估计方法,推导了在二余度和三余度情况下陀螺仪噪声估计的递推式;在获得陀螺仪的噪声估计值后,采用自适应扩展卡尔曼滤波方法将SINS和GNSS的导航信息进行融合,以提高组合导航系统的准确性和鲁棒性。通过对SINS/GNSS组合导航系统进行仿真和真实跑车实验,结果表明:文中方法能够准确估计陀螺仪噪声;相较于传统融合方法,引入陀螺仪噪声实时估计后,组合导航系统的导航精度和抗干扰能力得到了提高,具有实际的工程意义。As a potential solution for future urban transportation,the using of electric vertical takeoff and landing(eVTOL)aircraft,has great potential to alleviate urban traffic congestion and improve air traffic efficiency.In its commonly used navigation systems,integrated navigation and sensor redundancy technology are usually used to improve system reliability and safety.However,in the current sensor redundancy technology of navigation systems,redundant sensors only serve as data backup,resulting in insufficient information utilization of measurement data.To address this issue,this paper took the integrated navigation system of a triple redundant strapdown inertial naviga⁃tion system(SINS)and a global navigation satellite system(GNSS)as the research object and proposed a real-time estimation method for gyroscope noise based on second-order differencing and redundant information of the inertial measurement unit(IMU).It derived recursive expressions for gyroscope noise estimation in the case of two and three redundancies.After obtaining the estimated noise value of the gyroscope,the navigation information of SINS and GNSS was fused to improve the accuracy and robustness of the integrated navigation system.Through simula⁃tion and real sports car tests on the SINS/GNSS integrated navigation system,the results show that the method pro⁃posed in this paper can accurately estimate gyroscope noise.Compared with traditional fusion methods,the naviga⁃tion accuracy and anti-interference ability of the combined navigation system are improved after introducing the real-time estimation of gyroscope noise,which has practical engineering significance.

关 键 词：组合导航 余度技术 噪声估计 二阶互差分 

分 类 号：TN967.2[电子电信—信号与信息处理]