Research On Error Calibration And Fault Detection Method Of UAV Integrated Navigation System

With the use of unmanned aerial vehicles using in modern life more and more widely,the performance requirements are getting higher and higher.In the implementation of combat missions,it requires the combat aircraft navigation system to maintain accuracy while having high reliability.In order to improve the accuracy and reliability of the navigation system,this paper mainly studies the multi-sensor navigation system.Firstly,the error modeling and calibration of the inertial components is studied to reduce the influence of the gyro and the accelerometer on the accuracy of the inertial navigation system.Then,the fault detection method of the integrated navigation system is studied to improve the reliability of the integrated navigation system.Firstly,the error characteristics of inertial navigation system is analyzed and modeled.The working principle of strapdown inertial navigation system is introduced.The main error source-IMU error of inertial navigation system is analyzed and the deterministic error is modeled.The random error characteristics of the gyroscope were analyzed by using Allan variance analysis.Secondly,based on the modeling of the deterministic error of inertial components,the calibration method of IMU is studied.On the basis of the traditional discrete calibration method,an improved accelerometer outfield rapid calibration method is proposed.The calibration compensation of the three calibration methods was completed by collecting the laboratory data.The comparative analysis proved the effectiveness of the improved calibration method.In order to solve the problem of fault detection in multi-sensor integrated navigation system,the fault detection method is studied in detail.According to the residual detection algorithm based on two sets of navigation information,A self-test method of sensor subsystem fault based on window recursive method is proposed.On the basis of each sensor self-test,the fault detection of the integrated navigation is finished to the fault-tolerant effect,and the effectiveness of the method is verified by simulation.Finally,based on the inertial navigation principle and the IMU error model,the simulation model of the inertial navigation system is established.Combined with the integrated navigation system fault detection method,Simulink is used to build the integrated navigation system simulation platform.The experimental platform mainly includes the trajectory Device subsystem,IMU subsystem,multi-sensor subsystem and data fusion fault detection system.Finally,the validity of the system platform and the reliability of the proposed algorithm are verified by system simulation.