UAU Integrated Navigation System Algorithm Design And Overall Simulation

In recent years, an increasing number of unmanned aerial vehicles to be applied in the field of application environments are becoming more complex, which makes the UAV navigation technology requirements are also increasing, the traditional INS/ GPS navigation due GPS signals are easily blocked, it can not always meet the needs of UAV, With the development of digital image processing and computer vision technology, visual navigation to be more and more applications for navigation system or directly aided inertial navigation and satellite navigation, or as a backup navigation system, or constitute INS / GPS / vision navigation, increase fault tolerance and robustness of the navigation system.This article is intended for navigation during the actual project needs, design a simple and efficient inertial navigation algorithm, INS / GPS and INS / Vision algorithm, and based on this design based on federated filter INS / GPS / Vision UAV navigation algorithm. Through a set of measured data inertial navigation algorithm and INS / GPS algorithm to do actual analysis, through a set of simulation trajectory INS / GPS navigation, INS / Vision navigation and INS / GPS / Vision navigation do simulation analysis, and in accordance with the performance of three combinations of simulation curves navigation algorithm for comparison analysis,find their strengths and weaknesses, to provide reference for practical engineering practice. Finally, VC interface by using MATLAB and VC mixed programming simulate real engineering environment, call the appropriate navigation algorithms,navigation results demonstrate, to achieve complete simulation INS / GPS / Vision UAV Navigation System.The purpose of this simulation platform designed UAV navigation system has two aspects, one for the actual project needs, providing simple, efficient and fault-tolerant high three integrated navigation algorithm UAV flight test, a total of no human-computer navigation system selection, testing and validation. Another aspect of the scholars behind the UAV navigation system further studies provide simulation test platform to facilitate the development of R & D personnel, testing and validation.