High Altitude Long Endurance Uav Integrated Navigation System

As a new reconnaissance tool, High Altitude Long Endurance Unmanned Aerial Vehicle (HALE UAV) has been playing a more and more important role in modem wars. And navigation system has been paid much attention and developed very much as the key technique. In this thesis, the scheme, model and arithmetic of HALE UAV is studied. The main contents are as follows:(1) The navigation system of the typical HALE UAV-"Global Hawk" is analyzed and the scheme and arithmetic is researched. Through the researching the SINS/GPS/ADS integrated mode is gained so that an important example is offered for the research of our HALE UAV navigation system.(2) Based on the special needs of our HALE UAV, a whole scheme is suggested and SINS/GPS/Bei-Dou/ADS navigation system mode is established. SINS/GPS/ADS integrated system is used, When navigation information from GPS is valid, and switch GPS to Bei-Dou when GPS appear the breakdown, SINS/Bei-Dou/ADS is established. And then filtering scheme and FDIR scheme are analyzed.(3) The model and arithmetic of HALE UAV navigation system is researched: error model of the SINS, GPS, Bei-Dou and Air-data system is established. And the different SINS/GPS/Bei-Dou/ADS integrated arithmetic is designed, according to the different integrated mode is used.(4) The scheme and model and arithmetic of INS/GPS/Bei-Dou/ADS is simulated and the feasibility of the scheme is validated. Some of the key problems in GPS and Bei-Dou switch are analyzed.