Stratospheric Airship Navigation System Algorithm Research

Stratospheric airship which is filled with helium air flies in the stratospheric. The airship needs little energy, flies far, and can stay in the air for long time. It will be used widely in military and civil fields.The airship is to fly stably, autonomously and for long time. So it must have a navigation system with high autonomous, high precision and high fault-tolerance. According to these requests, the dissertation developed a navigation system technical algorithm for the stratospheric airship.This dissertation mainly researched on the Kalman filter. A federated filtering navigation algorithm based on UKF was developed. The initial alignment technique and exception detection were also researched. Firstly, according to the precision target, the subsystems of the navigation system were chosen. And the integrated navigation plan was devised. Then the federated filter and the unscented Kalman filter (UKF) were introduced, and a federated filter based on the UKF was developed, which is an innovation of this dissertation. Using the initial alignment results as the initial value, a simulation was then carried on, which showed that the integrated navigation system satisfied the corresponding precision and security requirement. In addition, this dissertation also researched on the initial alignment using the UKF. A primary research on the system level exception detection wass also carried on, and an exception detection plan was designed.