某型无人机GPS/Radio/DR组合导航中的滤波技术研究

针对某型无人机GPS Radio DR组合导航中各子系统的特点,提出一个分散集中化滤波方法。通过建立简化的无人机动力学及运动学模型,利用卡尔曼滤波对磁航向及空速信息进行处理,提高了航位推算(DR)的精度;由于无线电测量雷达中传动机构存在一定间隙,造成方位测量信息包含定频段的干扰,通过采用低通数字滤波器有效地抑制了干扰信号;利用GPS信息分别对滤波后的航位推算和无线电信息进行融合修正。仿真结果表明,经过融合后的无人机航迹精度明显得到了提高。

Study on Kalman filter in GPS/Radio/DR integrated navigation system of an UAV

Based on the respective characteristic of the subsystems in the GPS/Radio/DR integrated navigation system of an unmanned air vehicle (UVA), a decentralized-centralized filtering method is proposed. By establishing the predigested kinetics model and kinematics model of the UAV, the exact data ofmagnetism angle and airspeed can be obtained through Kalman filtering and accordingly the precision of dead reckoning (DR) is improved. Due to the machine transmission gap in the radar system, the measured azimuth of radio contains the interferential information with some frequencies. The information is resolved by applying a digital filter to the system. Last, the data of radio and DR are respectively corrected by GPS. The simulation results show that the precision of flight path is greatly improved through the method.