无人机UWB/IMU紧组合导航定位算法研究  

Research on UAV UWB/IMU Tight Integrated Navigation and Positioning Algorithm

作　　者：黄俊波 罗哲轩 李俊鹏 金涛 于智龙[2] HUANG Junbo;LUO Zhexuan;LI Junpeng;JIN Tao;YU Zhilong(Yunnan Power Grid Co.,Ltd.,Transmission Branch,Kunming 650000,China;School of Automation,Harbin Uinversity of Science and Technology,Harbin 150001,China)

机构地区：[1]云南电网有限责任公司输电分公司,昆明650000 [2]哈尔滨理工大学自动化学院,哈尔滨150001

出　　处：《哈尔滨理工大学学报》2024年第6期134-142,共9页Journal of Harbin University of Science and Technology

基　　金：国家自然科学基金(61673128,61573117).

摘　　要：导航定位技术是无人机稳定执行任务的核心技术,为满足无人机在室内导航定位的需求,对惯性导航系统(inertial navigation system,INS)和超宽带(uiltra wide band,UWB)紧组合导航算法进行研究。首先,对捷联惯导系统和UWB定位系统进行建模。然后设计UWB/IMU松组合和紧组合导航算法的状态方程和观测方程,并对UWB和INS信息融合。最后设计仿真实验对比UWB和INS紧组合和松组合这两种导航定位算法。仿真实验表明:UWB和INS紧组合的偏差在3 m以内,而松组合的偏差在18 m以内,进而证明UWB和INS紧组合比松组合精度高、抗干扰能力强。Navigation and positioning technology is the core technology for UAV to perform tasks stably.In this paper,the tight integrated navigation algorithm of Inertial Navigation System(INS)and Ultra Wide Band(UWB)is studied to meet the needs of UAV indoor navigation and positioning.Firstly,the strapdown inertial navigation system and UWB positioning system are modeled.Then,the loose combination and tight combination of UWB and INS are designed to fuse the information of UWB and INS,restrain the drift error of INS,and reduce the impact of non line of sight environment and communication interruption on the accuracy of UWB positioning system.The state equation and observation equation of UWB/IMU loose and tight integrated navigation algorithm are designed.Finally,a simulation experiment is designed to compare the tight combination with loose combination of UWB and INS.The simulation experiment proves that the tight combination of UWB with INS has higher precision and stronger anti-interference ability than the loose combination.

关 键 词：超宽带 惯性导航系统 松组合 紧组合 卡尔曼滤波 

分 类 号：TD824.7[矿业工程—煤矿开采]