Research On Long-term Integrated Navigation Method Of UAV

Based on the research of inertial navigation,satellite navigation,cellular network wireless positioning technology and visual navigation,this paper proposes a SINS/GPS/visual navigation/cellular wireless positioning integrated navigation system scheme based on adaptive federated filtering,aiming at the special mission and operation environment of a domestic UAV.This scheme enables the navigation system to have longterm autonomous navigation capability.Firstly,the flight motion state of UAV is analyzed.Based on the analysis of the actual flight environment of UAV,the attitude angles of UAV are defined by selecting the geographic coordinate system and the UAV body system as the reference coordinate system,including the pitch angle,yaw angle and roll angle,and the conversion relations among the reference coordinate systems are deduced.Secondly,the position,attitude and speed principle of each navigation subsystem(SINS,GPS,visual navigation system,cellular wireless positioning)used in integrated navigation system is deduced and analyzed.The strapdown inertial navigation system is mechanically arranged,and the position,speed and quaternion attitude updating algorithm of Strapdown solution is obtained.Through the research and analysis of the principle of cellular wireless positioning and visual navigation system,the position and attitude calculation algorithm of auxiliary system is given.In order to correct the long-term error of INS,an adaptive federated filtering algorithm is used to design the filter of navigation system.According to INS model and error propagation model,the state equation of Kalman filter is established,and then the observation equation of each subsystem is established according to the measurement model of auxiliary information source.The filter error variance matrix inverse method is used to obtain the information allocation factor in real time.Finally,according to the performance indicators of inertial navigation system,satellite navigation system,visual navigation system and cellular wireless positioning system,through the navigation accuracy of each system,and based on the trajectory data of high altitude and long endurance UAV in the whole flight phase,the integrated navigation system under different conditions is simulated and analyzed respectively,and the accuracy indicators and validation analysis conclusions are given for the overall design of UAV.Reference is provided.