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| 小型无人机SINS/GPS组合导航系统研究 | |
| 引用本文： | 梁振东. 小型无人机SINS/GPS组合导航系统研究[J]. 科学技术与工程, 2013, 13(3): 821-825,834 |
| 作者姓名： | 梁振东 |
| 作者单位： | 1. 河南机电职业学院,郑州451191;内蒙古工业大学内蒙古自治区机电控制重点实验室,呼和浩特010051 2. 郑州师范学院,郑州,450044 3. 河南机电职业学院,郑州,451191 |
| 摘 要： | 根据SINS/GPS组合导航的基本原理,在一个装有微型化IMU模块的MUAV自驾仪上设计了MUAV的SINS/GPS组合导航系统的联邦滤波算法,并对该导航系统进行了静态和动态实验。实验结果表明:采用联邦Kalman滤波能够有效的消除导航参数误差,提高导航精度。该导航系统可以满足小型无人机的导航要求。 |
| 关 键 词： | 惯性导航 联邦kalman滤波 数据融合 组合导航 |
| 收稿时间： | 2012-09-04 |
| 修稿时间： | 2012-09-28 |
The Research of MUAV SINS/GPS Integrated Navigation System |
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| liangzhendong. The Research of MUAV SINS/GPS Integrated Navigation System[J]. Science Technology and Engineering, 2013, 13(3): 821-825,834 | |
| Authors: | liangzhendong |
| Affiliation: | 1 (Henan Mechanical and Electrical Vocational College1,Zhengzhou 451191,P.R.China;The Key Laboratory of Electromechanical of Inner Mongolia,IMUT2,Hohhot 010051,P.R.China;Zhengzhou Normal University3,Zhengzhou 450044,P.R.China) |
| Abstract: | Based on the principle of SINS/GPS integrated navigation, the Federated Kalman Filtering algorithm for SINS/GPS integrated navigation system used in MUAV is presented in a MUAV autopilot with a MIMU.This algorithm is tested in MUAV and experimentalized in static and dynamic conditions. The result of experiments manifests that the navigation accuracy can be dramatically improved and the error of navigation parameters is eliminated by using Federated Kalman Filtering. The design is competent for MUAV navigation system. |
| Keywords: | inertial navigation federated kalman filter data fusion integrated navigation |
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