基于视觉/GPS/MEMS-SINS的微型飞行器姿态确定系统

分析了微型飞行器姿态确定系统的现状,提出利用视觉/GPS/MEMS-SINS组合导航系统确定微型飞行器姿态的方案.微型飞行器获取图像中天空和大地的特征不同,其间隐含了载体的姿态信息,在GPS和MEMS-SINS组合的基础上,将所隐含的载体姿态信息作为新增的观测量.建立了组合系统的卡尔曼滤波器模型,并进行了静态和动态仿真.结果表明,视觉/GPS/MEMS-SINS组合导航系统是微型飞行器自主姿态确定的有效方案,增加视觉姿态后,滤波器中惯性导航系统平台误差角的可观测性得到了增强,姿态估计精度也得到了提高.

The Attitude Determination for Micro Air Vehicles Based on Integrated Vision/GPS/MEMS-Strapdown Inertial Navigation System

The development of attitude determination for micro air vehicles(MAV) was analyzed,and an integrated vision/GPS/MEMS-SINS was presented as a new scheme of attitude determination for MAV.The integrated system fuses MEMS-SINS,GPS and vision attitude derived from the images which are(acquired) by the image sensor of MAV.The Kalman filter(KF) for the integration,specially its observation equations for state of platform error angles was educed from the cosine matrixes describing the relative(orientation) of the frames.The results of static and dynamic simulations indicate that the vision/GPS/(MEMS-SINS) integrated navigation system is effective and self-contained for attitude determination of MAV and the attitude based on vision image improves the observability of the attitude error in KF state vectors.