基于联邦滤波的无人机组合导航系统设计

以高空长航时无人机为研究背景,提出了基于联邦滤波的捷联惯导/卫星导航/天文导航的组合导航系统方案,给出了组合导航系统的状态模型和量测模型,设计了联邦滤波器并开发了组合导航方案的仿真系统,对于两个子系统的导航性能和总体方案的导航性能分别进行了仿真分析,证明了方案的合理性和可行性,为进一步研究导航系统中故障诊断和容错控制提供了依据。

Integrated Navigation System Used on High Altitude Long Endurance Aerial Vehicle

A SINS/GPS/CNS integrated navigation project is presented based on federated filtering which modeled with HALE UAV. State and measurement model of integrated navigation are presented. The federated filtering is designed and integrated navigation simulation is done. The performance of the two subsystems and the whole system are simulation. It proves that the project are rational and feasible. It gives evidence of fault detection and fault tolerant control of integrated navigation system.