低成本多传感器组合导航系统在小型无人机自主飞行中的研究与应用

ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2009, Vol. 30 ›› Issue (10): 1923-1929.

• Avionics and Autocontrol • Previous Articles Next Articles

Study and Application of Low-cost Multi-sensor Integrated Navigation for Small UAV Autonomous Flight

Cao Juanjuan, Fang Jiancheng, Sheng Wei, Tao Ye

Key Laboratory of Fundamental Science for National Defense of Novel Inertial Instruments and Navigation System Technology, School of Instrumentation Science and Opto-electronic Engineering, Beijing University of Aeronautics and Astronautics

Received:2008-08-26 Revised:2008-11-11 Online:2009-10-25 Published:2009-10-25
Contact: Fang Jiancheng

Abstract

Abstract: In order to achieve better precision and meet the reliability requirements of small unmanned air vehicle (UAV) navigation systems, this article presents an initial attitude determination method of strapdown inertial navigation system based on a micro electromechanical system (MEMS-SINS)/global positioning system (GPS)/magnetometer integrated navigation system. And the models of quaternion error and the orthogonal-triangular (QR) decomposition of unscented Kalman filter (QR-UKF) are used for data fusion of the MEMS-SINS/GPS/magnetometer integrated navigation system. Autonomous flight test results of small UAVs show that the MEMS-SINS/GPS/magnetometer integrated navigation system not only provides continuous and reliable navigation solutions to the guidance and flight control loop, but also has guarantees positive semi-definiteness of the state covariance.

Key words: strapdown inertial navigation system, integrated navigation, unscented Kalman filtering, MEMS, GPS, magnetometers, QR decomposition

CLC Number:

V249.32

Cao Juanjuan;Fang Jiancheng;Sheng Wei;Tao Ye. Study and Application of Low-cost Multi-sensor Integrated Navigation for Small UAV Autonomous Flight[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2009, 30(10): 1923-1929.

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Study and Application of Low-cost Multi-sensor Integrated Navigation for Small UAV Autonomous Flight

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