ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Integrity monitoring method for GNSS/IMU integrated navigation system of UAV
Received date: 2023-04-28
Revised date: 2023-05-05
Accepted date: 2023-06-20
Online published: 2023-07-07
Supported by
National Key R&D Program of China(2022YFB3904400)
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.
Jing ZHAO , Dan SONG . Integrity monitoring method for GNSS/IMU integrated navigation system of UAV[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2024 , 45(7) : 328943 -328943 . DOI: 10.7527/S1000-6893.2023.28943
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