无人机GNSS/IMU组合导航系统完好性监测方法

doi:10.7527/S1000-6893.2023.28943

Abstract

Abstract:

Both Global Navigation Satellite System （GNSS） and Inertial Measurement Unit （IMU） failure risks should be considered for civil UAV integrity monitoring. An autonomous integrity monitoring method for the GNSS/IMU integrated navigation system is proposed considering the risks of both IMU and GNSS failures. According to fault detection results， an integrity risk model is established， an integrity risk demand allocation scheme is designed， and a protection level inversion model of each fault mode is established. Filter innovation is used to express the influence of past epoch fault deviation on positioning error， and the problem of protection level inversion is solved under the premise that the fault starting epoch and fault deviation are unknown. The results of simulation at typical UAV low-altitude flight scenarios show that the protection level of the proposed algorithm can track the changing trend of positioning errors and form a safety overbounding for positioning errors， thus ensuring the integrity of the integrated navigation system.

Key words: integrated navigation, integrity monitoring, integrity risk assessment, protection level, UAV, overbounding

CLC Number:

V241.62⁺5

Jing ZHAO, Dan SONG. Integrity monitoring method for GNSS/IMU integrated navigation system of UAV[J]. Acta Aeronautica et Astronautica Sinica, 2024, 45(7): 328943-328943.

Figures/Tables 14

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Table 1

Simulation scenario parameters for integrated navigation system

传感器	参数	数值
IMU（40 Hz）	常值漂移/偏差	陀螺仪： $12 (°) / h$ 加速度计：0.05 mg
	白噪声	陀螺仪： $0.004 ((°) / s) / H z$ 加速度计：120 $μ g / H z$
	先验故障概率	1×10^-3
GNSS（1 Hz）	星座	GPS
GNSS（1 Hz）	遮掩角/（ $°$ ）	10
	伪距观测噪声 $σ 0$ /m	4
	卫星先验故障概率	1×10^-5
	起始点位置	65°N， 145°E，高度 0 m
	采样时间段	2019.04.29 08：00：00~ 2019.04.30 08：15：00（UTC）

Table 1

Table 2

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要求指标	数值
完好性要求/h	1×10^-7
水平告警限/m	40
垂直告警限/m	50
完好性监测可用性	99.9%

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Integrity monitoring method for GNSS/IMU integrated navigation system of UAV

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